| Motor | RE40 | RE30 | RE25 | RE24 |
|---|---|---|---|---|
| Model | RE40_148877 | RE30_310009 | RE25_339156 | RE-max24_222055 |
| No load Speed (tr.min-1) | 7580 | 8490 | 8450 | 9120 |
| Torque Constant | 0.0603 | 0.0538 | 0.0538 | 0.0374 |
Max Velocity and Max Torque are given on the joint axis.
| Joint name | Motor | Reduction | Max Velocity (rad.s-1) |
|---|---|---|---|
| NeckYaw | RE25 | 150.2680 | 5.8886917 |
| NeckPitch | RE25 | 143.2200 | 6.17848 |
| HeadPitch | RE24 | 130.8480 | 7.2988824 |
| HeadRoll | RE24 | 201.3050 | 4.7442645 |
| ShoulderPitch | RE25 | 135.5800 | 6.52664058 |
| ShoulderYaw | RE25 | 85.6300 | 10.333784 |
| ElbowRoll | RE25 | 85.6300 | 10.333784 |
| ElbowYaw | RE25 | 85.2400 | 10.3810644 |
| WristRoll | |||
| WristYaw | |||
| WristPitch | |||
| HipYaw | RE30 | 110.0000 | 8.082461 |
| HipRoll | RE40 | 77.14579 | 10.289294 |
| HipPitch | RE40 | 117.0767 | 6.7799634 |
| KneePitch | RE40 | 95.91286 | 8.27600953 |
| AnklePitch | RE40 | 117.0767 | 6.7799634 |
| AnkleRoll | RE40 | 77.14579 | 10.28929 |