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iCub 3

Here's are described the elctrical and mechanical specifications for each joint

Head Joints Specs

head-0

Joints 0,1 - pitch and roll (coupled)

head-1 head-2
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

head-3
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

head-4
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

head-5
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

Joint 0 - Eyelids

face-1
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

Joint 0 - shoulder pitch

upper-2
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

upper-3
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

upper-4
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

upper-5
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

Joint 4 - Pronosupination

forearm-1
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

forearm-2
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

forearm-8
Motor type DC
Motor Encoder 10 ppr
Integrated gearbox 1/256
Cables’pulleys reduction -
Joint encoder Hall effect sensor

Joint 8 - Thumb abduction

forearm-9
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

forearm-3
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

forearm-4
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

forearm-5
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

forearm-6
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

forearm-7
Motor type DC
Motor Encoder 10 ppr
Integrated gearbox 1/256
Cables’pulleys reduction -
Joint encoder Hall effect sensor

Lowebody Joints specs

lower-0

Torso joints

Joint 0 - torso roll

lower-2
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

lower-1
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

upper-1
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

lower-3 lower-4
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

lower-5 lower-6
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

lower-7 lower-8
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

lower-9 lower-10
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

lower-11 lower-12
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

lower-13 lower-14
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 -