iCub 3
Here's are described the elctrical and mechanical specifications for each joint
Head Joints Specs
![head-0](../img/head-0.png)
Joints 0,1 - pitch and roll (coupled)
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![head-1](../img/head-1.png) |
![head-2](../img/head-2.png) |
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
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![head-3](../img/head-3.png) |
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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
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![head-4](../img/head-4.png) |
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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
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![head-5](../img/head-5.png) |
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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
![face-0](../img/face-0.png)
Joint 0 - Eyelids
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![face-1](../img/face-1.png) |
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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
![upper-0](../img/upper-0.png)
Joint 0 - shoulder pitch
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![upper-2](../img/upper-2.png) |
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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
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![upper-3](../img/upper-3.png) |
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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
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![upper-4](../img/upper-4.png) |
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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
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![upper-5](../img/upper-5.png) |
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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
![forearm-0](../img/forearm-0.png)
Joint 4 - Pronosupination
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![forearm-1](../img/forearm-1.png) |
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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
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![forearm-2](../img/forearm-2.png) |
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Motor type |
DC |
Motor Encoder |
400 ppr |
Integrated gearbox |
1/159 |
Cablesâpulleys reduction |
14/18.8 |
Joint encoder |
AEA (both joints) |
HW limits |
-45/+45 (degrees) |
Joint 7 - Fingers abduction
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![forearm-8](../img/forearm-8.png) |
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Motor type |
DC |
Motor Encoder |
10 ppr |
Integrated gearbox |
1/256 |
Cablesâpulleys reduction |
- |
Joint encoder |
Hall effect sensor |
Joint 8 - Thumb abduction
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![forearm-9](../img/forearm-9.png) |
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Motor type |
DC |
Motor Encoder |
no |
Integrated gearbox |
1/256 |
Cablesâpulleys reduction |
- |
Joint encoder |
Hall effect sensor |
Joint 9,11,13 - Thumb, index and middle proximals
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![forearm-3](../img/forearm-3.png) |
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Motor type |
DC |
Motor Encoder |
10 ppr |
Integrated gearbox |
1/256 |
Cablesâpulleys reduction |
- |
Joint encoder |
Hall effect sensor |
Joint 10 - Thumb distals - 2 joints 1 motor
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![forearm-4](../img/forearm-4.png) |
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Motor type |
DC |
Motor Encoder |
10 ppr |
Integrated gearbox |
1/256 |
Cablesâpulleys reduction |
- |
Joint encoder |
Hall effect sensor |
Joint 12 - Index distals - 2 joints 1 motor
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![forearm-5](../img/forearm-5.png) |
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Motor type |
DC |
Motor Encoder |
10 ppr |
Integrated gearbox |
1/256 |
Cablesâpulleys reduction |
- |
Joint encoder |
Hall effect sensor |
Joint 14 - Middle distals - 2 joints 1 motor
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![forearm-6](../img/forearm-6.png) |
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Motor type |
DC |
Motor Encoder |
10 ppr |
Integrated gearbox |
1/256 |
Cablesâpulleys reduction |
- |
Joint encoder |
Hall effect sensor |
Joint 15 - Ring and pinky distals - 4 joints 1 motor
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![forearm-7](../img/forearm-7.png) |
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Motor type |
DC |
Motor Encoder |
10 ppr |
Integrated gearbox |
1/256 |
Cablesâpulleys reduction |
- |
Joint encoder |
Hall effect sensor |
Lowebody Joints specs
![lower-0](../img/lower-0.png)
Torso joints
Joint 0 - torso roll
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![lower-2](../img/lower-2.png) |
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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 â 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
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![lower-1](../img/lower-1.png) |
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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 â 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
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![upper-1](../img/upper-1.png) |
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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
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![lower-3](../img/lower-3.png) |
![lower-4](../img/lower-4.png) |
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 â 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
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|
![lower-5](../img/lower-5.png) |
![lower-6](../img/lower-6.png) |
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 â 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
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![lower-7](../img/lower-7.png) |
![lower-8](../img/lower-8.png) |
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 â 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
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![lower-9](../img/lower-9.png) |
![lower-10](../img/lower-10.png) |
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 â 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 |
- |
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![lower-11](../img/lower-11.png) |
![lower-12](../img/lower-12.png) |
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 â 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 |
- |
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![lower-13](../img/lower-13.png) |
![lower-14](../img/lower-14.png) |
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 â 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 |
- |