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Wrist Mk2.0 vs Wrist Mk2.1

Wrist Mk2.0 (left) vs Wrist Mk2.1 (right)

Wrist Mk2 and Elbow joints Specs

Joint number Motors Identifier Type Parent link Child link Mk2.0 lower limit Mk2.0 upper limit Mk2.1 low. l. Mk2.1 upp. l. Notes
l_elbow ROT l_upperarm l_forearm - - - - E1L in fig.
l_wrist_yaw ROT l_forearm l_wrist_1 -92° 92° -92° 92° W1L in fig.
l_wrist_roll ROT l_wrist_1 l_wrist_2 -62° 52° -33° 40° W2L in fig.
l_wrist_pitch ROT l_wrist_2 l_hand_palm -32° 32° -20° 20° W3L in fig.
r_elbow ROT r_upperarm r_forearm - - - - E1R in fig.
r_wrist_yaw ROT r_forearm r_wrist_1 - - -92° 92° W1R in fig.
r_wrist_roll ROT r_wrist_1 r_wrist_2 - - -40° 33° W2R in fig.
r_wrist_pitch ROT r_wrist_2 r_hand_palm - - -20° 20° W3R in fig.

Wrist Mk2 and Elbow joints 1/2

Wrist Mk2 and Elbow joints 2/2

Note

Rotation signs follow the right-hand rule according to the reference system in the figure.