Arm specifications
Reachy 2021 arm specifications.
Construction: 3D printed MJF Painted- 3 axial needle roller bearings
Power consumption: 51W
Dimensions: 662x88x73mm
Weight repartition
Overall Arm: 1670g
Shoulder: 240g
Upper arm: 610g
Forearm: 590g
Gripper: 230g
Maximum payload: 500g
(this may 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 | Left arm | |||||
|---|---|---|---|---|---|---|
| Motor name | Angle limits | Motor ID | Motor name | Angle limits | Motor ID | |
| shoulder_pitch | -150, 90 | 10 | shoulder_pitch | -150, 90 | 20 | |
| shoulder_roll | -180, 10 | 11 | shoulder_roll | -10, 180 | 21 | |
| arm_yaw | -90, 90 | 12 | arm_yaw | -90, 90 | 22 | |
| elbow_pitch | -125, 0 | 13 | elbow_pitch | -125, 0 | 23 | |
| forearm_yaw | -100, 100 | 14 | forearm_yaw | -100, 100 | 24 | |
| wrist_pitch | -45, 45 | 15 | wrist_pitch | -45, 45 | 25 | |
| wrist_roll | -55, 35 | 16 | wrist_roll | -35, 55 | 26 | |
| gripper | -69, 20 | 17 | gripper | -20, 69 | 27 |
| Motors | |
|---|---|
| Standard version: | Performance version: |
| 1 Dynamixel MX-106T | 3 Dynamixel MX-106T |
| 3 Dynamixel MX-64AT | 1 Dynamixel MX-64AT |
| 1 Dynamixel MX-28AT | 2 Dynamixel MX-28AT |
| 2 Dynamixel AX-18A | 1 Dynamixel AX-18A |
Fans
3 fans (shoulder, elbow and wrist)