1 Joint Motor
Q Series High-Performance Servo Motor
PM01 joints use EngineAI's self-developed Q series high-performance servo motors:
- Q90H Main Joint Motor: Max torque 145N·m, used for hip, knee, and other main joints
- Q25H Lightweight Joint Motor: Max torque 50N·m, used for ankle, shoulder, elbow, and other joints
Core advantages: hollow axis design, dual encoder system, low inertia rotor, optimized heat dissipation
The motors are equipped with Dual Encoder system, integrating high-accuracy position encoders and torque/current sensors, providing more accurate position and speed feedback to meet high-accuracy control requirements. The low inertia rotor design ensures fast response and excellent dynamic performance, while the optimized heat dissipation design supports long-term high-load operation.
| Motor Model | Q90H | Q25H |
|---|---|---|
| Joint Encoder | Dual Encoder | Dual Encoder |
| Joint Type | Full Planetary | Full Planetary |
| Max Torque (Nm) | 145 | 50 |
| Peak Torque Density | 130Nm/kg | 100 Nm/kg |
| Max Speed (rpm) | 6400 | 8400 |
| Reduction Ratio | 25 | 25 |
| Mass (kg) | 1.1 | 0.5 |
| Diameter (mm) | 86 | 62 |
| Height (mm) | 62 | 60 |
| Rated Voltage (V) | 48 | 48 |
| Force Control Accuracy | 5% | 5% |
2 Joint Numbering and Limits
Joint Naming Convention
• Joint naming format: J[Number]_[Part]_[Action]_[Left/Right]
• Link naming format: LINK_[Part]_[Action]_[Left/Right]
• Angle unit: radians (rad)
Note: Please strictly observe joint limits during development. Exceeding the limit range may cause hardware damage
| No. | Link | Link & Meshes Naming | Joint Name | Joint Model | Joint Angle Lower Limit (rad) | Joint Angle Upper Limit (rad) |
|---|---|---|---|---|---|---|
| 1 | Left Hip Pitch | LINK_HIP_PITCH_L | J00_HIP_PITCH_L | Q90H | -3.141 | 2.443 |
| 2 | Left Hip Roll | LINK_HIP_ROLL_L | J01_HIP_ROLL_L | Q90H | -0.436 | 2.094 |
| 3 | Left Hip Yaw | LINK_HIP_YAW_L | J02_HIP_YAW_L | Q25H-L | -1.57 | 4.014 |
| 4 | Left Knee Pitch | LINK_KNEE_PITCH_L | J03_KNEE_PITCH_L | Q90H | -0.2618 | 2.3562 |
| 5 | Left Ankle Pitch | LINK_ANKLE_PITCH_L | J04_ANKLE_PITCH_L | Q25H | -0.6807 | 0.7243 |
| 6 | Left Ankle Roll | LINK_ANKLE_ROLL_L | J05_ANKLE_ROLL_L | Q25H | -0.2618 | 0.2618 |
| 7 | Right Hip Pitch | LINK_HIP_PITCH_R | J06_HIP_PITCH_R | Q90H | -3.141 | 2.443 |
| 8 | Right Hip Roll | LINK_HIP_ROLL_R | J07_HIP_ROLL_R | Q90H | -2.094 | 0.436 |
| 9 | Right Hip Yaw | LINK_HIP_YAW_R | J08_HIP_YAW_R | Q25H-L | -4.014 | 1.57 |
| 10 | Right Knee Pitch | LINK_KNEE_PITCH_R | J09_KNEE_PITCH_R | Q90H | -0.2618 | 2.3562 |
| 11 | Right Ankle Pitch | LINK_ANKLE_PITCH_R | J10_ANKLE_PITCH_R | Q25H | -0.6807 | 0.7243 |
| 12 | Right Ankle Roll | LINK_ANKLE_ROLL_R | J11_ANKLE_ROLL_R | Q25H | -0.2618 | 0.2618 |
| 35 | Waist Yaw | LINK_TORSO_YAW | J12_WAIST_YAW | Q25H-L | -4.014 | 1.57 |
| 23 | Left Shoulder Pitch | LINK_SHOULDER_PITCH_L | J13_SHOULDER_PITCH_L | Q25H | -2.9671 | 2.7925 |
| 24 | Left Shoulder Roll | LINK_SHOULDER_ROLL_L | J14_SHOULDER_ROLL_L | Q25H | -0.6108 | 2.3562 |
| 25 | Left Shoulder Yaw | LINK_SHOULDER_YAW_L | J15_SHOULDER_YAW_L | Q25H | -2.618 | 2.618 |
| 26 | Left Elbow Pitch | LINK_ELBOW_PITCH_L | J16_ELBOW_PITCH_L | Q25H | -2.1948 | 0.7374 |
| 27 | Left Elbow Yaw | LINK_ELBOW_YAW_L | J17_ELBOW_YAW_L | Q25H | -2.618 | 2.618 |
| 29 | Right Shoulder Pitch | LINK_SHOULDER_PITCH_R | J18_SHOULDER_PITCH_R | Q25H | -2.9671 | 2.7925 |
| 30 | Right Shoulder Roll | LINK_SHOULDER_ROLL_R | J19_SHOULDER_ROLL_R | Q25H | -2.3562 | 0.6108 |
| 31 | Right Shoulder Yaw | LINK_SHOULDER_YAW_R | J20_SHOULDER_YAW_R | Q25H | -2.618 | 2.618 |
| 32 | Right Elbow Pitch | LINK_ELBOW_PITCH_R | J21_ELBOW_PITCH_R | Q25H | -2.1948 | 0.7374 |
| 33 | Right Elbow Yaw | LINK_ELBOW_YAW_R | J22_ELBOW_YAW_R | Q25H | -2.618 | 2.618 |
| 36 | Head Yaw | LINK_HEAD_YAW | J23_HEAD_YAW | Q25H | -0.6109 | 0.6109 |
3 Coordinate System Definition
Coordinate System Convention
Standard right-hand coordinate system is used:
- X-axis (Red): Forward direction
- Y-axis (Green): Left direction
- Z-axis (Blue): Vertical upward
The coordinate system at zero position for each joint is shown below
When all joints are at zero position, the coordinate systems are as shown below. Red is the x-axis, green is the y-axis, and blue is the z-axis.
