T2 - Motors - V 3.2¶
Location¶
Motors¶
There are 4 types of motor in NAO - V. 3.2:
| Motors | Motor type 1 | Motor type 2 | Motor type 3 | Motor type 4 |
|---|---|---|---|---|
| Model | RE-Max 24 | RE-Max 17 | A-max12 | GM20 |
| No load speed | 8 000 rpm | 11 900 rpm | 12 300 rpm | 13 206 rpm |
| Stall torque | 59.5 mNm | 15,1 mNm | 1.52 mNm | 0.08 mNm |
| Nominal torque | 12.3 mNm | 3.4 mNm | 0.931 mNm | 0.08 mNm |
Speed Reduction ratio¶
For each motor, there are several types of speed reduction ratio:
| Speed Reduction ratio | Motor type 1 | Motor type 2 | Motor type 3 | Motor type 4 |
|---|---|---|---|---|
| Type A | 201.3 | 150.27 | 800 | 372 |
| Type B | 130.85 | 173.22 |
The table below lists the motor type and reduction ratio for each joint in NAO - V. 3.2:
Head¶
| Joints | Motor | Reduction ratio |
| HeadYaw | Type 2 | Type A |
| HeadPitch | Type 2 | Type B |