Romeo - Motors

See also

Romeo - Developer guide

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Motor	RE40	RE21	RE25	RE17
Model	RE40_148877	REmax21_250028	RE25_339154	RE-max17_216007
No load Speed (tr.min-1)	7580	9620	10300	10100
Stall Torque (N.m)	2.5	0.0280	0.271	0.0117
Torque Constant	0.0603	0.0468	0.0329	0.0445

Motor	RE24	RE24B	DCX10	DCX35
Model	RE-max24_222057	RE-max24_220419	DCX10L	DCX35
No load Speed (tr.min-1)	7880	7450	2800	6670
Stall Torque (N.m)	0.0460	0.0499	0.01752	0.138
Torque Constant	0.0613	0.0613	0.040	0.0683

Max Velocity and Max Torque are given on the joint axis.

Head

Joint name	Motor	Reduction	Max Velocity (rad.s-1)
NeckYaw	RE25	145.2	4.0
NeckPitch	RE25	118.1	2.2
HeadPitch	RE24	130.8	1.9
HeadRoll	RE24	201.3	1.5

Arms

Joint name	Motor	Reduction	Max Velocity (rad.s-1)
ShoulderPitch	RE25	249.7	2.2
ShoulderYaw	RE25	118.1	4.0
ElbowRoll	RE25	145.2	3.7
ElbowYaw	RE25	118.1	4.0
WristRoll	RE24	201.3	1.1
WristYaw	RE17	249.9	2.6
WristPitch	RE17	173.2	3.75
Hand	RE24B	13.03 [1]	47.59

[1]	Ratio between the axis of the motor and the axis of the first phalanx of the index finger.

Trunk

Joint name	Motor	Reduction	Max Velocity (rad.s-1)
TrunkYaw	DCX35	292.47	1.5

Legs

Joint name	Motor	Reduction	Max Velocity (rad.s-1)
HipYaw	RE21	2696.58	0.32
HipRoll	RE40	160.448	2.09
HipPitch	RE40	243.736	2.09
KneePitch	RE40	66 - 150	6.0
AnklePitch	RE40	247.338	2.10
AnkleRoll	RE40	168.65	2.10
ToePitch	are controlled by a servo motor HS-125MG. It only allows locking or unlocking operations.

Eyes

Joint name	Motor	Reduction	Max Velocity (rad.s-1)
EyeYaw	DCX10	1.0	293.21
EyePitch	DCX10	1.0	293.21