Joints
Overview
Section titled “Overview”The Jueying Lite3 consists of a left front leg (FL), right front leg (FR), left hind leg (HL), right hind leg (HR), and a body. Each leg is composed of 3 joints: HipX (hip abduction/adduction), HipY (hip flexion/extension), and Knee (knee flexion/extension), totaling 12 joints.
Joint Specifications
Section titled “Joint Specifications”| Joint | Range of Motion | Rated Torque | Max Torque | Max Speed |
|---|---|---|---|---|
| Hip Roll (HipX) | -24° ~ 24° | 6.48N·m | 24N·m | 26.16rad/s |
| Hip Pitch (HipY) | -200° ~ 20° | 6.48N·m | 24N·m | 26.1rad/s |
| Knee (Knee) | 34.5° ~ 156° | 9.72N·m | 36N·m | 17.1rad/s |
Joint Weight and Moments of Inertia
Section titled “Joint Weight and Moments of Inertia”| Joint | Weight | Principal Moment Px | Principal Moment Py | Principal Moment Pz |
|---|---|---|---|---|
| Hip Roll (HipX) | 0.435kg | 220kg·mm² | 220kg·mm² | 254kg·mm² |
| Hip Pitch (HipY) | 0.501kg | 267kg·mm² | 316kg·mm² | 369kg·mm² |
| Knee (Knee) + Thigh | 0.96kg | 945kg·mm² | 4440kg·mm² | 4692kg·mm² |
| Shank | 0.16kg | 32kg·mm² | 1294kg·mm² | 1310kg·mm² |
Joint Coordinate System
Section titled “Joint Coordinate System”Each joint coordinate system follows the right-hand rule. For coordinate system definitions and position parameters, see Mechanical Structure - Joint and Foot Coordinate Systems.
Joint Order
Section titled “Joint Order”The order of the 12 joints is:
FL_HipX, FL_HipY, FL_Knee, FR_HipX, FR_HipY, FR_Knee,HL_HipX, HL_HipY, HL_Knee, HR_HipX, HR_HipY, HR_KneeF, H, L, R denote Front, Hind, Left, Right respectively.