ergoCub 1
The technical specifications of the electro-mechanical components for the joints of ergoCub 1 are as described below:
Head
Joint 0 - neck pitch
| Joint identifier(s) |
neck_pitch |
| Motor |
DC Micromotor, Faulhaber 2342S012CR, OD 23 |
| Motor Encoder |
Incremental encoder IE2-512, (integrated with motor) |
| Transmission |
1st stage - Belt drive, Reduction 28/18 |
| Speed Reducer |
Harmonic Drive HUFC-8-100-2A, Reduction 100:1 |
| Transmission |
2nd stage - Cable drive, Reduction 31.7/30.5 |
| Joint Encoder |
AEA board with MA730 (absolute angle encoder) |
| Range of Motion (HW) |
-45/+22 (degrees) |
| Range of Motion (SW) |
-40/+22 (degrees) |
Note
neck_pitch joint is coupled in a differential mechanism with neck_roll
Joint 1 - neck roll
| Joint identifier(s) |
neck_roll |
| Motor |
DC Micromotor, Faulhaber 2342S012CR, OD 23 |
| Motor Encoder |
Incremental encoder IE2-512, (integrated with motor) |
| Transmission |
1st stage - Belt drive, Reduction 28/18 |
| Speed Reducer |
Harmonic Drive HUFC-8-100-2A, Reduction 100:1 |
| Transmission |
2nd stage - Cable drive, Reduction 31.7/30.5 |
| Joint Encoder |
AEA board with MA730 (absolute angle encoder) |
| Range of Motion (HW) |
-20/+20 (degrees) |
| Range of Motion (SW) |
-20/+20 (degrees) |
Note
neck_roll joint is coupled in a differential mechanism with neck_pitch
Joint 2 - neck yaw
| Joint identifier(s) |
neck_yaw |
| Motor |
DC Micromotor, Faulhaber 2224U012SR, OD 22 |
| Motor Encoder |
Incremental encoder IE2-512, (integrated with motor) |
| Speed Reducer |
Harmonic Drive HUFC-8-100-2A, Reduction 100:1 |
| Joint Encoder |
AEA board with MA730 (absolute angle encoder) |
| Range of Motion (HW) |
-45/+45 (degrees) |
| Range of Motion (SW) |
-45/+45 (degrees) |
Joint 3 - camera tilt
| Joint identifier(s) |
camera_tilt |
| Motor |
DC Micromotor, Faulhaber 1524E012SR, OD 15 |
| Motor Encoder |
Incremental encoder IE2-512, (integrated with motor) |
| Speed Reducer |
Spur gearhead Faulhaber 15/8, Reduction 141:1 (integrated with motor) |
| Transmission |
Linkage drive (1:1) |
| Joint Encoder |
AEA board with MA730 (absolute angle encoder) |
| Range of Motion (HW) |
-30/+30 (degrees) |
| Range of Motion (SW) |
-30/+30 (degrees) |
Arm - Upperarm, Forearm
Joint 0 - shoulder pitch
| Joint identifier(s) |
r_shoulder_pitch , l_shoulder_pitch |
| Motor |
Brushless DC, MOOG_C2900576, OD 49.2, ID 15.5, L 24.7, 8 pole pairs, without Hall Sensor |
| Motor Encoder |
LCORE5 board with AEDR-850x (reflective optical incremental encoder) + Optical Disk 004 with 900 CPR, OD 26 |
| Speed Reducer |
Harmonic Drive CSD-20-100-2UH, Reduction 100:1 |
| Joint Encoder |
AMO board with iC-MU (absolute magnetic off-axis encoder) + Magnetic wheel (PWB_103839), 64/63 pole pairs, OD 50.7 |
| Range of Motion (HW) |
-170/+35 (degrees) |
| Range of Motion (SW) |
-130/+14 (degrees) |
Joint 1 - shoulder roll
| Joint identifier(s) |
r_shoulder_roll , l_shoulder_roll |
| Motor |
Brushless DC, MOOG_C2900576, OD 49.2, ID 15.5, L 24.7, 8 pole pairs, without Hall Sensor |
| Motor Encoder |
LCORE5 board with AEDR-850x (reflective optical incremental encoder) + Optical Disk 004 with 900 CPR, OD 26 |
| Speed Reducer |
Harmonic Drive CSD-17-100-2A, Reduction 100:1 |
| Joint Encoder |
AMO board with iC-MU (absolute magnetic off-axis encoder) + Magnetic wheel (PWB_103839), 64/63 pole pairs, OD 50.7 |
| Range of Motion (HW) |
-15/+150 (degrees) |
| Range of Motion (SW) |
-00/+130 (degrees) |
Joint 2 - shoulder yaw
| Joint identifier(s) |
r_shoulder_yaw , l_shoulder_yaw |
| Motor |
Brushless DC, MOOG_C2900575, OD 49.2, ID 15.5, L 17.7, 8 pole pairs, without Hall Sensor |
| Motor Encoder |
LCORE5 board with AEDR-850x (reflective optical incremental encoder) + Optical Disk 004 with 900 CPR, OD 26 |
| Speed Reducer |
Harmonic Drive CSD-17-100-2UH, Reduction 100:1 |
| Joint Encoder |
AMO board with iC-MU (absolute magnetic off-axis encoder) + Magnetic wheel (PWB_103839), 64/63 pole pairs, OD 50.7 |
| Range of Motion (HW) |
-52/+82 (degrees) |
| Range of Motion (SW) |
-50/+80 (degrees) |
Joint 3 - elbow
| Joint identifier(s) |
r_elbow , l_elbow |
| Motor |
Brushless DC, MOOG_C2900575, OD 49.2, ID 15.5, L 17.7, 8 pole pairs, without Hall Sensor |
| Motor Encoder |
LCORE5 board with AEDR-850x (reflective optical incremental encoder) + Optical Disk 004 with 900 CPR, OD 26 |
| Speed Reducer |
Harmonic Drive CSD-17-100-2A, Reduction 100:1 |
| Transmission |
Linkage drive (1:1) |
| Joint Encoder |
AMO board with iC-MU (absolute magnetic off-axis encoder) + Magnetic wheel (MU7S), 25/32 pole pairs, OD 24.5 |
| Range of Motion (HW) |
-5/+120 (degrees) |
| Range of Motion (SW) |
-3/+105 (degrees) |
Joint 4 - wrist yaw
| Joint identifier(s) |
r_wrist_yaw , l_wrist_yaw |
| Motor |
Brushless DC, Faulhaber 2214S024BXTH, OD 22 |
| Motor Encoder |
None |
| Speed Reducer |
Planetary Gearhead, Faulhaber 22 GPT, Reduction 196:1 (integrated with motor) |
| Transmission |
Belt drive (2:1) |
| Joint Encoder |
AEA board with MA730 (absolute angle encoder) |
| Range of Motion (HW) |
-92/+92 (degrees) |
| Range of Motion (SW) |
-90/+90 (degrees) |
Note
all wrist joints are coupled into a co-axial spherical parallel mechanism
Joint 5 - wrist roll
| Joint identifier(s) |
r_wrist_roll , l_wrist_roll |
| Motor |
Brushless DC, Faulhaber 2214S024BXTH, OD 22 |
| Motor Encoder |
None |
| Speed Reducer |
Planetary Gearhead, Faulhaber 22 GPT, Reduction 196:1 (integrated with motor) |
| Transmission |
Belt drive (2:1) |
| Joint Encoder |
AEA board with MA730 (absolute angle encoder) |
| Range of Motion (HW) |
-62/+52 (degrees) |
| Range of Motion (SW) |
-60/+50 (degrees) |
Note
all wrist joints are coupled into a co-axial spherical parallel mechanism
Joint 6 - wrist pitch
| Joint identifier(s) |
r_wrist_pitch , l_wrist_pitch |
| Motor |
Brushless DC, Faulhaber 2214S024BXTH, OD 22 |
| Motor Encoder |
None |
| Speed Reducer |
Planetary Gearhead, Faulhaber 22 GPT, Reduction 196:1 (integrated with motor) |
| Transmission |
Belt drive (2:1) |
| Joint Encoder |
AEA board with MA730 (absolute angle encoder) |
| Range of Motion (HW) |
-32/+32 (degrees) |
| Range of Motion (SW) |
-30/+30 (degrees) |
Note
all wrist joints are coupled into a co-axial spherical parallel mechanism
Arm - Hand
Joint 7 - thumb adduction/abduction
| Joint identifier(s) |
r_thumb_add , l_thumb_add |
| Motor |
DC, Maxon DCX10S EB KL 9V, OD 10 |
| Motor Encoder |
None |
| Speed Reducer |
Planetary Gearhead, Maxon GPX10, Reduction 256:1 (integrated with motor) |
| Transmission |
Linkage (variable reduction) |
| Joint Encoder |
FAP board with finger absolute position sensor |
| Range of Motion (HW) |
+0/+100 (degrees) |
| Range of Motion (SW) |
+0/+85 (degrees) |
Joint 8 - thumb open & close
| Joint identifier(s) |
r_thumb_oc , l_thumb_oc |
| Motor |
DC Micromotor, Faulhaber 1331T012SR, OD 13 |
| Motor Encoder |
Incremental encoder IE2-400, (integrated with motor) |
| Speed Reducer |
Planetary Gearhead, Faulhaber 14/1, Reduction 159:1 (integrated with motor) |
| Transmission |
Tendon drive and linkages |
| Joint Encoder |
FAP board with finger absolute position sensor |
| Range of Motion (HW) |
+0/+90 (degrees) |
| Range of Motion (SW) |
+4/+70 (degrees) |
Joint 9 - index adduction/abduction
| Joint identifier(s) |
r_index_add , l_index_add |
| Motor |
DC Gearmotor, Faulhaber 1512U012SR 324:1, OD 15 |
| Motor Encoder |
None |
| Speed Reducer |
Spur Gearhead, Reduction 324:1 (integrated with motor) |
| Transmission |
Linkages (variable reduction) |
| Joint Encoder |
FAP board with finger absolute position sensor |
| Range of Motion (HW) |
+6/+20 (degrees) |
| Range of Motion (SW) |
+7/+18 (degrees) |
Joint 10 - index finger open & close
| Joint identifier(s) |
r_index_oc , l_index_oc |
| Motor |
DC Micromotor, Faulhaber 1331T012SR, OD 13 |
| Motor Encoder |
Incremental encoder IE2-400, (integrated with motor) |
| Speed Reducer |
Planetary Gearhead, Faulhaber 14/1, Reduction 159:1 (integrated with motor) |
| Transmission |
Tendon drive and linkages |
| Joint Encoder |
FAP board with finger absolute position sensor |
| Range of Motion (HW) |
+0/+90 (degrees) |
| Range of Motion (SW) |
+4/+85 (degrees) |
Joint 11 - middle finger open & close
| Joint identifier(s) |
r_middle_oc , l_middle_oc |
| Motor |
DC Micromotor, Faulhaber 1331T012SR, OD 13 |
| Motor Encoder |
Incremental encoder IE2-400, (integrated with motor) |
| Speed Reducer |
Planetary Gearhead, Faulhaber 14/1, Reduction 159:1 (integrated with motor) |
| Transmission |
Tendon drive and linkages |
| Joint Encoder |
FAP board with finger absolute position sensor |
| Range of Motion (HW) |
+0/+90 (degrees) |
| Range of Motion (SW) |
+4/+85 (degrees) |
Joint 12 - ring & pinky finger open & close
| Joint identifier(s) |
r_ring_pinky_oc , l_ring_pinky_oc |
| Motor |
DC Micromotor, Faulhaber 1331T012SR, OD 13 |
| Motor Encoder |
Incremental encoder IE2-400, (integrated with motor) |
| Speed Reducer |
Planetary Gearhead, Faulhaber 14/1, Reduction 159:1 (integrated with motor) |
| Transmission |
Tendon drive and linkages |
| Joint Encoder |
FAP board with finger absolute position sensor |
| Range of Motion (HW) |
+0/+90 (degrees) |
| Range of Motion (SW) |
+4/+85 (degrees) |
Torso
Joint 0 - torso roll
| Joint identifier(s) |
torso_roll |
| Motor |
Brushless DC, MOOG_C2900576, OD 49.2, ID 15.5, L 24.7, 8 pole pairs, without Hall Sensor |
| Motor Encoder |
LCORE5 board with AEDR-850x (reflective optical incremental encoder) + Optical Disk 004 with 900 CPR, OD 26 |
| Speed Reducer |
Harmonic Drive CSD-20-100-2UH, Reduction 100:1 |
| Joint Encoder |
AMO board with iC-MU (absolute magnetic off-axis encoder) + Magnetic wheel (PWB_103839), 64/63 pole pairs, OD 50.7 |
| Range of Motion (HW) |
-25/+25 (degrees) |
| Range of Motion (SW) |
-23/+23 (degrees) |
Joint 1 - torso pitch
| Joint identifier(s) |
torso_pitch |
| Motor |
Brushless DC, MOOG_C2900576, OD 49.2, ID 15.5, L 24.7, 8 pole pairs, without Hall Sensor |
| Motor Encoder |
LCORE5 board with AEDR-850x (reflective optical incremental encoder) + Optical Disk 004 with 900 CPR, OD 26 |
| Speed Reducer |
Harmonic Drive CSD-20-160-2UH, Reduction 160:1 |
| Joint Encoder |
AMO board with iC-MU (absolute magnetic off-axis encoder) + Magnetic wheel (PWB_103839), 64/63 pole pairs, OD 50.7 |
| Range of Motion (HW) |
-20/+65 (degrees) |
| Range of Motion (SW) |
-18/+45 (degrees) |
Joint 2 - torso yaw
| Joint identifier(s) |
torso_yaw |
| Motor |
Brushless DC, MOOG_C2900576, OD 49.2, ID 15.5, L 24.7, 8 pole pairs, without Hall Sensor |
| Motor Encoder |
LCORE5 board with AEDR-850x (reflective optical incremental encoder) + Optical Disk 004 with 900 CPR, OD 26 |
| Speed Reducer |
Harmonic Drive CSD-20-100-2UH, Reduction 100:1 |
| Joint Encoder |
AMO board with iC-MU (absolute magnetic off-axis encoder) + Magnetic wheel (PWB_103839), 64/63 pole pairs, OD 50.7 |
| Range of Motion (HW) |
-45/+45 (degrees) |
| Range of Motion (SW) |
-43/+43 (degrees) |
Leg
Joint 0 - hip pitch
| Joint identifier(s) |
r_hip_pitch , l_hip_pitch |
| Motor |
Brushless DC, MOOG_C2900580, OD 72.4, ID 15.5, L 27.5, 12 pole pairs, without Hall Sensor |
| Motor Encoder |
LCORE5 board with AEDR-850x (reflective optical incremental encoder) + Optical Disk 004 with 900 CPR, OD 26 |
| Speed Reducer |
Harmonic Drive CSD-25-100-2UH, Reduction 100:1 |
| Joint Encoder |
AMO board with iC-MU (absolute magnetic off-axis encoder) + Magnetic wheel (PWB_103839), 64/63 pole pairs, OD 50.7 |
| Range of Motion (HW) |
-44/+110 (degrees) |
| Range of Motion (SW) |
-42/+102 (degrees) |
Joint 1 - hip roll
| Joint identifier(s) |
r_hip_roll , l_hip_roll |
| Motor |
Brushless DC, MOOG_C2900576, OD 49.2, ID 15.5, L 24.7, 8 pole pairs, without Hall Sensor |
| Motor Encoder |
LCORE5 board with AEDR-850x (reflective optical incremental encoder) + Optical Disk 004 with 900 CPR, OD 26 |
| Transmission |
Belt drive (1:1) |
| Speed Reducer |
Harmonic Drive CSD-20-160-2UH, Reduction 160:1 |
| Joint Encoder |
AMO board with iC-MU (absolute magnetic off-axis encoder) + Magnetic wheel (PWB_103839), 64/63 pole pairs, OD 50.7 |
| Range of Motion (HW) |
-35/+111 (degrees) |
| Range of Motion (SW) |
-15/+108 (degrees) |
Joint 2 - hip yaw
| Joint identifier(s) |
r_hip_yaw , l_hip_yaw |
| Motor |
Brushless DC, MOOG_C2900576, OD 49.2, ID 15.5, L 24.7, 8 pole pairs, without Hall Sensor |
| Motor Encoder |
LCORE5 board with AEDR-850x (reflective optical incremental encoder) + Optical Disk 004 with 900 CPR, OD 26 |
| Speed Reducer |
Harmonic Drive CSD-20-100-2UH, Reduction 100:1 |
| Joint Encoder |
AMO board with iC-MU (absolute magnetic off-axis encoder) + Magnetic wheel (PWB_103839), 64/63 pole pairs, OD 50.7 |
| Range of Motion (HW) |
-81/+81 (degrees) |
| Range of Motion (SW) |
-78/+78 (degrees) |
Joint 3 - knee
| Joint identifier(s) |
r_knee , l_knee |
| Motor |
Brushless DC, MOOG_C2900580, OD 72.4, ID 15.5, L 27.5, 12 pole pairs, without Hall Sensor |
| Motor Encoder |
LCORE5 board with AEDR-850x (reflective optical incremental encoder) + Optical Disk 004 with 900 CPR, OD 26 |
| Transmission |
Belt drive (1:1) |
| Speed Reducer |
Harmonic Drive CSD-25-100-2UH, Reduction 100:1 |
| Joint Encoder |
AMO board with iC-MU (absolute magnetic off-axis encoder) + Magnetic wheel (PWB_103839), 64/63 pole pairs, OD 50.7 |
| Range of Motion (HW) |
-105/+7 (degrees) |
| Range of Motion (SW) |
-103/+5 (degrees) |
Joint 4 - ankle pitch
| Joint identifier(s) |
r_ankle_pitch , l_ankle_pitch |
| Motor |
Brushless DC, MOOG_C2900580, OD 72.4, ID 15.5, L 27.5, 12 pole pairs, without Hall Sensor |
| Motor Encoder |
LCORE5 board with AEDR-850x (reflective optical incremental encoder) + Optical Disk 004 with 900 CPR, OD 26 |
| Transmission |
Belt drive (1:1) |
| Speed Reducer |
Harmonic Drive CSD-25-100-2UH, Reduction 100:1 |
| Joint Encoder |
AMO board with iC-MU (absolute magnetic off-axis encoder) + Magnetic wheel (PWB_103839), 64/63 pole pairs, OD 50.7 |
| Range of Motion (HW) |
-45/+45 (degrees) |
| Range of Motion (SW) |
-43/+43 (degrees) |
Joint 5 - ankle roll
| Joint identifier(s) |
r_ankle_roll , l_ankle_roll |
| Motor |
Brushless DC, MOOG_C2900576, OD 49.2, ID 15.5, L 24.7, 8 pole pairs, without Hall Sensor |
| Motor Encoder |
LCORE5 board with AEDR-850x (reflective optical incremental encoder) + Optical Disk 004 with 900 CPR, OD 26 |
| Speed Reducer |
Harmonic Drive CSD-17-160-2A, Reduction 160:1 |
| Joint Encoder |
AMO board with iC-MU (absolute magnetic off-axis encoder) + Magnetic wheel (MU7S), 25/32 pole pairs, OD 24.5 |
| Range of Motion (HW) |
-25/+25 (degrees) |
| Range of Motion (SW) |
-23/+23 (degrees) |