T2 - Motors - V3.2¶

Location¶

There are 4 types of motor in NAO - V. 3.2:

	Motor type 1	Motor type 2	Motor type 3	Motor type 4
Model	RE-Max 24	RE-Max 17	A-max12	GM20
No load speed	8 000 rpm	11 900 rpm	12 300 rpm	13 206 rpm
Stall torque	59.5 mNm	15,1 mNm	1.52 mNm	0.08 mNm
Nominal torque	12.3 mNm	3.4 mNm	0.931 mNm	0.08 mNm

For each motor, there are several types of speed reduction ratio:

Speed Reduction ratio	Motor type 1	Motor type 2	Motor type 3	Motor type 4
Type A	201.3	150.27	800	372
Type B	130.85	173.22

The table below lists the motor type and reduction ratio for each joint in NAO - V. 3.2: