This is an early draft, need to define the weight of pib, motor torques and speeds
In this document, we outline the features and capabilities required for the knee of pib, our humanoid robot. By understanding these requirements, we can determine the appropriate transmission ratio and method of transmission to ensure effective movement and stability.
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State | Torque Knee (Nm) | Torque Motor (Nm) | Speed Knee (rad/s) | Speed Motor (rad/s) | Transmission Ratio (r) | Power |
|---|---|---|---|---|---|---|
Static | 72.6 | To be determined | 2.36 | To be determined | To be determined | 0.171 |
Dynamic | 435.6 | To be determined | 7.08 | To be determined | To be determined | 3.084 |