T2 - Motors

See also

V4 | V3.3 | V3.2

NAO T2 | Motors

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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