Motors

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Motor Type 1 Motor Type 2 Motor Type 3 Motor Type 4 Motor Type 5
Model 22NT Z13 17N 16GT DCX 16S 22NT Z20
No load speed 8 700 rpm ±10% 8 400 rpm ±12% 10 700 rpm ±10% 11 400 rpm ±10% 8 700 rpm ±10%
Stall torque 65 mNm ±8% 9.4 mNm ±8% 14.3 mNm ±8% 22.4 mNm ±10% 65 mNm ±8%
Nominal torque 17.8 mNm max 4.9 mNm max 6.2 mNm max 2.6 mNm max 17.8 mNm max
Speed Reduction Ratio A
201.3 50.61 150.27 150.27 130.85
HipYawPitch, HipRoll, AnkleRoll WristYaw HeadYaw, ElbowYaw ShoulderPitch HipPitch, KneePitch, AnklePitch
Speed Reduction Ratio B
36.24 173.22
Hand HeadPitch, ShoulderRoll, ElbowRoll