Motors

Location

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Motors

Pepper 1.8

Motor type 1 Motor type 2 Motor type 3 Motor type 4 Motor type 5 Motor type 6
Family Brush DC Coreless BLDC (Brushless DC)
Model SE24P2CTCA SE24M1RTCA SE15KOVTTLA EC-45_50W EC45_70W FL45BLW27
No load speed (rpm) 5 715 8 459 7 310 4 730 6 110 6 110
Torque constant (mNm/A) 27.5 19.2 21.2 47.5 36.9 36.9
Stall torque (mNm) 122.9 61.7 14.71 402 1460 780
Max Continuous torque (mNm) 42.9 23.8 3.68 69.6 128 130
Speed Reduction ratio 101.3 118.1 Type A: 50.61 108.33 108.33 25
Type B: 36.24

Arms

Joint Motor
ShoulderPitch Type 1
ShoulderRoll Type 2
ElbowYaw Type 1
ElbowRoll Type 2

Hands

Joint / Actuator Motor Reduction ratio
WristYaw Type 3 Type A
Hand Type 3 Type B

Leg

Joints Motor
HipRoll Type 4
HipPitch Type 5
KneePitch Type 5
WheelFL Type 6
WheelFR Type 6
WheelB Type 6

Former versions

Motor type 1 Motor type 2 Motor type 3 Motor type 4 Motor type 5
Family Brush DC Coreless BLDC (Brushless DC)
Model SE24P2CTCA SE24M1RTCA 17N88208E EC-45_50W EC45_70W
No load speed (rpm) 5 715 8 459 8 400 4 730 6 110
Torque constant (mNm/A) 27.5 19.2 20.1 47.5 36.9
Stall torque (mNm) 122.9 61.7 9.4 402 1460
Max Continuous torque (mNm) 42.9 23.8 4.9 69.6 128
Speed Reduction ratio - Type A 101.3 118.1 50.61 108.33 108.33
Speed Reduction ratio - Type B 36.24 25

Head

Joint Motor Reduction ratio
HeadYaw Type 1 Type A
HeadPitch Type 2 Type A

Arms

Joint Motor Reduction ratio
ShoulderPitch Type 1 Type A
ShoulderRoll Type 2 Type A
ElbowYaw Type 1 Type A
ElbowRoll Type 2 Type A

Hands

Joint / Actuator Motor Reduction ratio
WristYaw Type 3 Type A
Hand Type 3 Type B

Leg

Joints Motor Reduction ratio
HipRoll Type 4 Type A
HipPitch Type 5 Type A
KneePitch Type 5 Type A
WheelFL Type 5 Type B
WheelFR Type 5 Type B
WheelB Type 5 Type B