Robot data¶
General info¶
Reduction ratios:¶
- Joint 1 -> 15:1 cycloidal reducer and 5:3 belt reduction = combined resulting in 25:1 reduction
- Joint 2 -> 27:1 cycloidal reducer
- Joint 3 -> 15:1 cycloidal reducer
- Joint 4 -> 11:1 cycloidal reducer and 28:26 belt reduction = combined resulting in 11.846153:1 reduction
- Joint 5 -> 11:1 cycloidal reducer and 1:1 belt reduction = combined resulting in 11:1 reduction
- Joint 6 -> 19.19:1 planetary reducer
Belts¶
- Joint 1 belt is HTD 5M 490 mm timing belt 10 mm wide and needs to be tightened with bearings
- Joint 4 belt is HTD 5M 430 mm timing belt 10 mm wide does not need to be tightened
- Joint 5 belt is HTD 5M 285 mm timing belt 10 mm wide and needs to be tightened with bearings