Reachy's arm specifications
Weight repartition
- Overall Arm: 1670g
- Shoulder: 240g
- Upper arm: 610g
- Forearm: 590g
- Gripper: 230g
Maximum payload: 500g
Of course, this may really vary depending on the holding and duration configuration.
Degrees of freedom
Reachy's arm offers 7 degrees of movement + 1 for the gripper
Right Arm
| Motor name | Angle limits | Motor ID |
|---|---|---|
| shoulder_pitch | -180, 90 | 10 |
| shoulder_roll | -180, 10 | 11 |
| arm_yaw | -90, 90 | 12 |
| elbow_pitch | -125, 0 | 13 |
| forearm_yaw | -100, 100 | 14 |
| wrist_pitch | -45, 45 | 15 |
| wrist_roll | -45, 45 | 16 |
| gripper | -69, 20 | 17 |
Left Arm
| Motor name | Angle limits | Motor ID |
|---|---|---|
| shoulder_pitch | -180, 90 | 20 |
| shoulder_roll | -10, 180 | 21 |
| arm_yaw | -90, 90 | 22 |
| elbow_pitch | 0, 125 | 23 |
| forearm_yaw | -100, 100 | 24 |
| wrist_pitch | -45, 45 | 25 |
| wrist_roll | -45, 45 | 26 |
| gripper | -69, 20 | 27 |
Standard version
Animated by the following motors:
- 1 Dynamixel MX-106T
- 3 Dynamixel MX-64AT
- 1 Dynamixel MX-28AT
- 2 Dynamixel AX-18A
Performance version
Animated by the following motors:
- 3 Dynamixel MX-106T
- 1 Dynamixel MX-64AT
- 2 Dynamixel MX-28AT
- 1 Dynamixel AX-18A