Pepper - Motors

See also

Pepper - Technical overview

Location

../../_images/juliet_motors.png

Motors

  Motor type 1 Motor type 2 Motor type 3 Motor type 4 Motor type 5
Family Brush DC Coreless BLDC (Brushless DC)
Model SE24P2CTCA SE24M1RTCA 17N88208E EC-45_50W EC45_70W
No load speed (rpm) 5 715 8 459 8400 4730 6110
Torque constant (mNm/A) 27.5 19.2 20.1 47.5 36.9
Stall torque (mNm) 122.9 61.7 9,4 560 820
Max Continuous torque (mNm) 42.9 23.8 4.9 69.5 130
Speed Reduction ratio - Type A 101.3 118.1 50.61 109.084 109.084
Speed Reduction ratio - Type B     36.24   25

Arms

Joint Motor Reduction ratio
ShoulderPitch Type 1 Type A
ShoulderRoll Type 2 Type A
ElbowYaw Type 1 Type A
ElbowRoll Type 2 Type A

Hands

Joint / Actuator Motor Reduction ratio
WristYaw Type 3 Type A
Hand Type 3 Type B

Leg

Joints Motor Reduction ratio
HipRoll Type 4 Type A
HipPitch Type 5 Type A
KneePitch Type 5 Type A
WheelFL Type 5 Type B
WheelFR Type 5 Type B
WheelB Type 5 Type B
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