T14 - Motors¶
Location¶
Motors¶
There are 3 types of motor in NAO - V. 4.0:
| Motor type 1 | Motor type 2 | Motor type 3 | |
|---|---|---|---|
| Model | 22NT82213P | 17N88208E | 16GT83210E |
| No load speed | 8 300 rpm ±10% | 8 400 rpm ±12% | 10 700 rpm ±10% |
| Stall torque | 68 mNm ±8% | 9.4 mNm ±8% | 14.3 mNm ±8% |
| Nominal torque | 16.1 mNm | 4.9 mNm | 6.2 mNm |
Speed Reduction ratio¶
For each motor, there are several types of speed reduction ratio:
| Motor type 1 | Motor type 2 | Motor type 3 | |
|---|---|---|---|
| Type A | 201.3 | 50.61 | 150.27 |
| Type B | 130.85 | 36.24 | 173.22 |
Head¶
| Joint | Motor | Reduction ratio |
| HeadYaw | Type 3 | Type A |
| HeadPitch | Type 3 | Type B |
Arms¶
| Joint | Motor | Reduction ratio |
| ShoulderPitch | Type 3 | Type A |
| ShoulderRoll | Type 3 | Type B |
| ElbowYaw | Type 3 | Type A |
| ElbowRoll | Type 3 | Type B |
Hands¶
| Joint / Actuator | Motor | Reduction ratio |
| WristYaw | Type 2 | Type A |
| Hand | Type 2 | Type B |