H21 - Motors - V 3.3

See also

V 4.0 | V 3.3 | V 3.2

NAO H21 | Motors

Location

../../_images/hardware_motortype_h21.png

Motors

There are 2 types of motor in NAO - V. 3.3:

Motors 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:

Arms

Joints Motor Reduction ratio
ShoulderPitch Type 1 Type A
ShoulderRoll Type 1 Type B
ElbowYaw Type 1 Type A
ElbowRoll Type 1 Type B

Legs

Joints Motor Reduction ratio
HipYawPitch Type 2 Type A
HipRoll Type 2 Type A
HipPitch Type 2 Type B
KneePitch Type 2 Type B
AnklePitch Type 2 Type B
AnkleRoll Type 2 Type A
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