º¸½ºÅÏ ´ÙÀ̳ª¹Í½º ·Îº¿ °³ ¿ë Á¶ÀÎÆ® ¸ðÅÍ
¸ðÅÍ + µå¶óÀ̹ö + ÀÎÄÚ´õ + °¨¼Ó±â + CAN ¹ö½º Åë½Å
³ôÀº ÅäÅ© Á¶ÀÎÆ® ¸ðÅÍ ·Îº¿ °³ ¶Ç´Â ·Îº¿ ÆÈ
https://grabcad.com/library/mit-robot-dog-high-torque-joint-motor-or-dd-motor-1
https://grabcad.com/library/ht-04-mit-robot-motor-modular-actuator-1
![](https://www.robotdigg.com/crab/image/2019/04/08/5289191e04de65f9f48a8dd35c2baf0b.jpeg)
HT-03-MIT
¹«°Ô: 610g
Ä¡¼ö: 96mm O.D., Ãà ±æÀÌ 40mm
ÃÖ´ë ÅäÅ© 17N.m
¿¬¼Ó ÅäÅ© 6.9N.m (±â¾îºñ 6:1)
ÃÖ´ë Ãâ·Â ¼Óµµ 40rad/s @ 24V
ÃÖ´ë Ãâ·Â Àü·Â 250 ¿ÍÆ®
Àü·ù Á¦¾î ´ë¿ªÆø 4.5kHz @ 4.5N.m, 1.5kHz @ 17N.m
Ãâ·Â °ü¼º 0.0023kgm2
HT-04-MIT
ġŸ ¸ðÅÍ Google µå¶óÀ̺êÀÇ ÃֽŠ¹öÀü ¹®¼
https://drive.google.com/file/d/1ZLNZA8lIxulDlaiJsqZMKaBF2updOeZf/view?usp=sharing
¹«°Ô: 720g
Ä¡¼ö: 96mm O.D., Ãà ±æÀÌ 40mm
ÃÖ´ë ÅäÅ© 35N.m
¿¬¼Ó ÅäÅ© 13N.m (±â¾îºñ 6:1)
Åë½Å ÇÁ·ÎÅäÄÝ: CANBus
Ä¿³ØÅÍ: XT30/GH1.25
Àü¿ø °ø±Þ ÀåÄ¡: 24-48V DC
12 ºñÆ® ÀÎÄÚ´õ 0.087 µµ Á¤¹Ðµµ
Á¦¾î ¸ðµå: ÅäÅ© ·çÇÁ, ¼Óµµ ·çÇÁ ¹× À§Ä¡ ·çÇÁ
·Îº¿ Á¶ÀÎÆ® ¸ðÅÍ°¡ HT-02 ¾÷±×·¹À̵åµÇ¾úÀ¸¸ç ¸ðÅÍ Àü¿ë ºÎÇ° ¹øÈ£°¡ HT-02-M µå¶óÀ̹ö°¡ ³»ÀåµÈ HT-02RDG
Åë½Å CAN, (SmartCan ÇÁ·ÎÅäÄÝ, ¼Óµµ 1M);
15 ºñÆ® Àý´ë ÀÎÄÚ´õ, ÇϳªÀÇ ¼Å¬ ÆÞ½º´Â ÃÖ´ë 32768 ±îÁö °¡´ÉÇÕ´Ï´Ù.
¸ÖƼÆú DD ¸ðÅÍ ³ôÀº ÅäÅ© Ãâ·Â.
½º¸ô »çÀÌÁî ¿¬°áÇϱ⠽¬¿î ¿ÍÀ̾ ÅëÇÕµÈ ¼º¸ ¸ðÅÍ.
À§Ä¡ Á¦¾î ÆÐÅÏ, ¼Óµµ ¹× °¡¼ÓÀ» ¼³Á¤ÇÒ ¼ö ÀÖ½À´Ï´Ù
![](https://www.robotdigg.com/crab/image/2019/09/23/2e4a5383566a2512ce882fd230b4782c.png)
Àü¿ø °ø±Þ ÀåÄ¡ 36VDC ± 10%
Á¤°Ý ÇöÀç 7A
ÅäÅ© 1.27N.m (±â¾î ¾øÀ½)
Á¤°Ý ¼Óµµ 1500RPM
ÃÖ´ë ¼Óµµ 2000RPM
Àü·Â ¿ÍÆ® 200W
³Ã°¢ ¸ðµå ÀÚ¿¬ ³Ã°¢
¿µ¾î CAN Åë½Å ÀÚ·á
https://drive.google.com/file/d/1gSgAaHF1gJnS8SFqn8_bAFIElDGFb9hp/view?usp=sharing
![](https://www.robotdigg.com/crab/image/2020/07/15/b7f3ddb963a1a7f4dda3958571b079af.jpeg)
ġŸÀÇ ¿ÏÀüÇÑ ´ÜÀ§¸¦ »ç¿ëÇÒ ¼ö ÀÖÀ¸¸ç, ¸®µå ŸÀÓÀº 3-5 ÁÖ, ¸®´ª½º, C/C ++
RobotDogg ±âº», Ä÷¯ ±×·¹ÀÌ
2Kgs, ÀüÁø ¼Óµµ 1.7 m/s, Ãø¸é 0.6 m/s, µî¹Ý °¢µµ 15 µµ, ¹èÅ͸® 5Ah ³»±¸¼º 1 ½Ã°£, ÃÖ´ë 20cm ¹× °Å¸® 50cm Á¡ÇÁ, Ä«¸Þ¶ó ¾øÀ½
º¸Çà: Æ®·ÎÆ®, ÇöóÀ× Æ®·Ô, ÆäÀ̽º, ÁúÁÖ, ¹Ù¿îµå
RobotDogg-EN Çâ»óµÈ ¹öÀü
3Kgs, ¼Óµµ ÀüÁø 2.5 m/s, Ãø¸é 1 m/s, µî¹Ý °¢µµ 30 µµ, ¹èÅ͸® 5Ah ³»±¸¼º 1.5 ½Ã°£, ÃÖ´ë 30cm ¹× °Å¸® 80cm Á¡ÇÁ, µö Ä«¸Þ¶ó Intel RealSense D435, ºñÀü GPU NVIDIA Á¦Æ®½¼ ³ª³ë TX2
º¸Çà: Æ®·ÎÆ®, ÇöóÀ× Æ®·Ô, ÆäÀ̽º, ÁúÁÖ, ¹Ù¿îµå ¹× ±âŸ °³¹ß.
![](https://www.robotdigg.com/crab/image/2020/11/12/f2ab7088213a9cca4c3be83797d3d0de.jpeg)