T2 - Motors - V3.3¶
Location¶
Motors¶
There are 2 types of motor in NAO - V. 3.3:
| Motor type 1 | Motor type 2 | |
|---|---|---|
| Model | RE-Max 17 | RE-Max 24 |
| No load speed | 11 900 rpm | 8 000 rpm |
| Stall torque | 15,1 mNm | 59.5 mNm |
| Nominal torque | 3.4 mNm | 12.3 mNm |
Speed Reduction ratio¶
For each motor, there are several types of speed reduction ratio:
| Speed Reduction ratio | Motor type 1 | Motor type 2 |
|---|---|---|
| Type A | 150.27 | 201.3 |
| Type B | 173.22 | 130.85 |
| Type C | 50.61 | |
| Type D | 36.24 |
The table below lists the motor type and reduction ratio for each joint in NAO - V. 3.3:
Head¶
| Joint | Motor | Reduction ratio |
| HeadYaw | Type 1 | Type A |
| HeadPitch | Type 1 | Type B |
