iCub 3
Here's are described the elctrical and mechanical specifications for each joint
Head Joints Specs
Joints 0,1 - pitch and roll (coupled)
 |
 |
| Motor type | DC |
| Motor Encoder | 512 ppr |
| First stage reduction | 18/28 |
| Harmonic drive | 1/100 |
| Last stage (cables and pulleys reduction) | 30.5/31.7 |
| Joint encoder | AEA |
| HW limits | pitch -30/+41 roll ±40 (degrees) |
Joint 2 - yaw
 |
|
| Motor type | DC |
| Motor Encoder | 512 ppr |
| First stage reduction | - |
| Harmonic drive | 1/100 |
| Last stage (cables and pulleys reduction) | - |
| Joint encoder | AEA |
| HW limits | ±45 (degrees) |
Joint 3 - eyes tilt
 |
|
| Motor type | DC |
| Motor Encoder | 512 ppr |
| First stage reduction | - |
| Harmonic drive | 1/100 |
| Last stage (cables and pulleys reduction) | - |
| Joint encoder | AEA |
| HW limits | ±45 (degrees) |
Joint 4,5 - eyes pan
 |
|
| Motor type | DC |
| Motor Encoder | 512 ppr |
| First stage reduction | - |
| Harmonic drive | 1/50 |
| Last stage (cables and pulleys reduction) | - |
| Joint encoder | - |
| HW limits | ±30 (degrees) |
Face Joints Specs
Joint 0 - Eyelids
 |
|
| Motor type | DC |
| Motor Encoder | 10 lpr |
| Integrated gearbox | 1/16 |
| Joint encoder | AEA |
| Last stage reduction | 42/100 |
| HW limits | 0/-70 (degrees) |
Upperarm Joints specs
Joint 0 - shoulder pitch
 |
|
| Motor type | Brushless C2900576 8 poles |
| Motor Encoder | Lcore optical encoder on motor shaft |
| Harmonic drive | 1/100 |
| Joint encoder | Magnetic target 64/63 & AMO board (MU7S_64-63N PWB 103839) |
| HW limits | -25/+180 (degrees) |
Joint 1 - shoulder roll
 |
|
| Motor type | Brushless C2900576 8 poles |
| Motor Encoder | Lcore optical encoder on motor shaft |
| Harmonic drive | 1/100 |
| Joint encoder | Magnetic target 64/63 & AMO board (MU7S_64-63N PWB 103839) |
| HW limits | -15/+150 (degrees) |
Joint 2 - upperarm yaw
 |
|
| Motor type | Brushless C2900576 8 poles |
| Motor Encoder | Lcore optical encoder on motor shaft |
| Harmonic drive | 1/100 |
| Joint encoder | magnetic target 64/63 & AMO board (MU7S_64-63N PWB 103839) |
| HW limits | -52/+82 (degrees) |
Joint 3 - elbow
 |
|
| Motor type | Brushless C2900576 8 poles |
| Motor Encoder | Lcore optical encoder on motor shaft |
| Harmonic drive | 1/100 |
| Joint encoder | magnetic target MU7S_25-32N & AMO board (MU7S_64-63N PWB 103839) |
| HW limits | -5/+115 (degrees) |
Forearm Joints specs
Joint 4 - Pronosupination
 |
|
| Motor type | DC |
| Motor Encoder | 512 ppr |
| Harmonic drive | 1/100 |
| Joint encoder | - |
| HW limits | -90/+90 (degrees) |
Joint 5,6 -Wrist yaw and pitch - coupled
 |
|
| Motor type | DC |
| Motor Encoder | 400 ppr |
| Integrated gearbox | 1/159 |
| Cables’pulleys reduction | 14/18.8 |
| Joint encoder | AEA (both joints) |
| HW limits | -45/+45 (degrees) |
Joint 7 - Fingers abduction
 |
|
| Motor type | DC |
| Motor Encoder | 10 ppr |
| Integrated gearbox | 1/256 |
| Cables’pulleys reduction | - |
| Joint encoder | Hall effect sensor |
Joint 8 - Thumb abduction
 |
|
| Motor type | DC |
| Motor Encoder | no |
| Integrated gearbox | 1/256 |
| Cables’pulleys reduction | - |
| Joint encoder | Hall effect sensor |
Joint 9,11,13 - Thumb, index and middle proximals
 |
|
| Motor type | DC |
| Motor Encoder | 10 ppr |
| Integrated gearbox | 1/256 |
| Cables’pulleys reduction | - |
| Joint encoder | Hall effect sensor |
Joint 10 - Thumb distals - 2 joints 1 motor
 |
|
| Motor type | DC |
| Motor Encoder | 10 ppr |
| Integrated gearbox | 1/256 |
| Cables’pulleys reduction | - |
| Joint encoder | Hall effect sensor |
Joint 12 - Index distals - 2 joints 1 motor
 |
|
| Motor type | DC |
| Motor Encoder | 10 ppr |
| Integrated gearbox | 1/256 |
| Cables’pulleys reduction | - |
| Joint encoder | Hall effect sensor |
Joint 14 - Middle distals - 2 joints 1 motor
 |
|
| Motor type | DC |
| Motor Encoder | 10 ppr |
| Integrated gearbox | 1/256 |
| Cables’pulleys reduction | - |
| Joint encoder | Hall effect sensor |
Joint 15 - Ring and pinky distals - 4 joints 1 motor
 |
|
| Motor type | DC |
| Motor Encoder | 10 ppr |
| Integrated gearbox | 1/256 |
| Cables’pulleys reduction | - |
| Joint encoder | Hall effect sensor |
Lowebody Joints specs
Torso joints
Joint 0 - torso roll
 |
|
| Motor type | MOOG_C2900576 Moog BLDC motor, OD 49.2, ID 15.5, L 24.7 , W/O HALL SENSOR |
| Fast shaft sensor | Lcore 5 – optical disk 004 |
| Slow shaft sensor drive | AMO board - magnetic target 64/63 (MU7S_64-63N PWB 103839) |
| Harmonic drive | CSD-20-100-2UH_CS (1:100) |
| HW limits | +25/-25 (degrees) |
| SW limits | - |
Joint 1 - torso pitch
 |
|
| Motor type | MOOG_C2900576 Moog BLDC motor, OD 49.2, ID 15.5, L 24.7 , W/O HALL SENSOR |
| Fast shaft sensor | Lcore 5 – optical disk 004 |
| Slow shaft sensor drive | AMO board - magnetic target 64/63 (MU7S_64-63N PWB 103839) |
| Harmonic drive | CSD-20-100-2UH_CS (1:100) |
| HW limits | +65/-25 front/rear (degrees) |
| SW limits | - |
Joint 2 - torso yaw
 |
|
| Motor type | Brushless C2900576 8 poles |
| Motor Encoder | Lcore optical encoder on motor shaft |
| Harmonic drive | 1/100 |
| Joint encoder | Magnetic target 64/63 & AMO board (MU7S_64-63N PWB 103839) |
| HW limits | -45/+45 (degrees) |
Legs joints
Joint 0 - left, right hip pitch
 |
 |
| Motor type | MOOG_C2900580 Moog BLDC motor, OD 72.4, ID 15.5, L 27.5 , W/O HALL SENSOR |
| Fast shaft sensor | Lcore 5 – optical disk 004 |
| Slow shaft sensor drive | AMO board - magnetic target 64/63 (MU7S_64-63N PWB 103839) |
| Harmonic drive | CSD-20-100-2UH_CS (1:100) |
| HW limits | +94/-47 front/rear (degrees) |
| SW limits | - |
Joint 1 - left, right hip roll
 |
 |
| Motor type | MOOG_C2900576 Moog BLDC motor, OD 49.2, ID 15.5, L 24.7 , W/O HALL SENSOR |
| Fast shaft sensor | Lcore 5 – optical disk 004 |
| Slow shaft sensor drive | AMO board - magnetic target 64/63 (MU7S_64-63N PWB 103839) |
| Harmonic drive | CSD-20-100-2UH_CS (1:100) |
| HW limits | +120/-20 front/rear (degrees) |
| SW limits | - |
Joint 2 - left, right yaw
 |
 |
| Motor type | MOOG_C2900576 Moog BLDC motor, OD 49.2, ID 15.5, L 24.7 , W/O HALL SENSOR |
| Fast shaft sensor | Lcore 5 – optical disk 004 |
| Slow shaft sensor drive | AMO board - magnetic target 64/63 (MU7S_64-63N PWB 103839) |
| Harmonic drive | CSD-20-100-2UH_CS (1:100) |
| HW limits | -80.5/+80.5 (degrees) |
| SW limits | - |
Joint 3 - left, right knee
 |
 |
| Motor type | MOOG_C2900580 Moog BLDC motor, OD 72.4, ID 15.5, L 27.5 , W/O HALL SENSOR |
| Fast shaft sensor | Lcore 5 – optical disk 004 |
| Slow shaft sensor drive | AMO board - magnetic target 64/63 (MU7S_64-63N PWB 103839) |
| Harmonic drive | CSD-25-100-2UH_CS (1:100) |
| HW limits | +105/-5 (degrees) |
| SW limits | - |
Joint 4 - left, right foot pitch
 |
 |
| Motor type | MOOG_C2900580 Moog BLDC motor, OD 72.4, ID 15.5, L 27.5 , W/O HALL SENSOR |
| Fast shaft sensor | Lcore 5 – optical disk 004 |
| Slow shaft sensor drive | AMO board - magnetic target 64/63 (MU7S_64-63N PWB 103839) |
| Harmonic drive | CSD-25-100-2UH_CS (1:100) |
| HW limits | +45/-45 (degrees) |
| SW limits | - |
Joint 5 - left, right foot roll
 |
 |
| Motor type | MOOG_C2900576 Moog BLDC motor, OD 49.2, ID 15.5, L 24.7 , W/O HALL SENSOR |
| Fast shaft sensor | Lcore 5 – optical disk 004 |
| Slow shaft sensor drive | AMO board - magnetic Encoder (MU7S_25-32N) |
| Harmonic drive | CSD-17-100-2A (1:100) |
| HW limits | +25/-25 (degrees) |
| SW limits | - |