Mechanical Part#

Note

This robot is a research platform, and rapid improvements are constantly being made. While most of the information provided is accurate, we recommend double-checking for the most up-to-date details. For further inquiries, feel free to contact us at rby.support@rainbow-robotics.com or discuss on our GitHub Discussions page at rby1-sdk Discussions .

Motor Specifications#


The table provides details of each motor’s gear type, motor power, maximum measurable current, speed, and range of motion. For example, the R/LWH model has a planetary gear system and uses a 200W motor. Other systems utilize harmonic gears, and the movement range and maximum speed vary according to each axis.

Gear Type

Motor Power

Max. measurable current/ Limit current

Max Speed

Range

RWH/LWH

Planetary

200W

150 RPM (1.5m/s)

Infinite

AR

Harmonic

250(450)W

53/46 A

120°/s

-15° ~ 15°

AP

Harmonic

250(450)W

53/46 A

120°/s

-30° ~ 90°

KN

Harmonic

250(450)W

53/46 A

120°/s

-150° ~ 90°

HP

Harmonic

200(280)W

26/23 A

180°/s

-45° ~ 90°

HR

Harmonic

200(280)W

26/23 A

180°/s

-30° ~ 30°

HY

Harmonic

200(280)W

26/23 A

180°/s

-135° ~ 135°

RSP/LSP

Harmonic

80(180)W

26/14 A

180°/s

-180° ~ 180°

RSR/LSR

Harmonic

80(180)W

26/14 A

180°/s

R : -180° ~ 0° L : 0° ~ 180°

RSY/LSY

Harmonic

80(180)W

26/14 A

180°/s

-180° ~ 180°

RELB/LELB

Harmonic

50(75)W

8/7 A

180°/s

-150° ~ 0°

RWY1/LWY1

Harmonic

30(95)W

8/7 A

360°/s

-180° ~ 180°

RWP/LWP

Harmonic

30(95)W

8/7 A

360°/s

-90° ~ 110°

RWY2/LWY2

Harmonic + Pulley

45W

8/7 A

360°/s

-155° ~ 155°

Torque Specifications#


This table details the torque performance of various motor types. It includes continuous torque, repeated peak torque, and momentary peak torque in Newton-meters (Nm). Additionally, the table specifies the gear ratio, output speed in degrees per second (deg/s), motor encoder resolution in bits, transmission error in arcseconds, stiffness in Newton-meters per radian (Nm/rad), and the motor torque constant in Newton-meters per Ampere (Nm/A).

Type

AR, AP, KN

HP, HR, HY

R/L SP, R/L SR, R/L SY

R/L ELB

R/L WY1, R/L WP, R/L WY2

Continuous Torque (Nm)

250

125

65

35

14

Repeated Peak Torque (Nm)

433

204

70

36

36

Momentary Peak Torque (Nm)

841

369

143

70

70

Output Speed (deg/s)

120

180

180

180

360

Motor Encoder Resolution (bit)

14

14

14

14

14

Transmission Error (arcsec)

~50

~50

~50

~50

~50

Stiffness (Nm/rad)

110,000

50,000

14,000

6,100

6,100

Motor Torque Constant (Nm/A)

0.15

0.10

0.10

0.10

0.05

Robot Dimensions#


The diagrams show the front and side views of the robot with detailed measurements. The total height of the robot is 1400 mm, and the width is 600 mm. These measurements provide an understanding of the physical space the robot occupies, as well as its potential reach and movement range.

Note

Physical limits and control limits may differ. For detailed operation ranges, please refer to the URDF files .