General specifications

Key features

  • 2x 7 DoF Arms made of parallel joints (2x 2DoF & 1x 3DoF)
  • 1x 3 DoF Neck (1x 3DoF)
  • 1x Omnidirectional mobile base (+Lidar)
  • Manual adjustment of robot height
  • Internal cable routing through joints
  • Modular design (right arm strictly identical to left arm)
  • High reachability

Architecture

Reachy 7 DoF arm is made of 2x Orbita 2D actuators for Shoulder & Elbow, and 1x Orbita 3D actuator for wrist. Reachy neck is made of 1x Orbita 3D too.

Actuators localisation

General dimensions

Robot dimensions

Arm dimensions

Head dimensions

Mobile base dimensions

Joints localisation

The robot’s origin is defined by the intersection of the shoulder line and the vertical line passing through the center of the neck joint. Relative to this (virtual) origin, the centers of the shoulder and neck joints can be precisely located by applying these distances:

Joints localisation

Shoulders

Based on robot’s origin: -15° Roll and 10° Yaw

Joints localisation

Neck

Based on robot’s origin: 10° Pitch

Joints localisation

Computer

One computer to run Reachy 2’s stack:

Note: For AI needs, processing will be done via customer’s own computers at this stage

Vision specifications →