Mechanical Structure

Mechanical Dimensions

Body Dimensions

Parameter	Value	Description
Weight (mbody)	11kg	Body weight (including battery, hip roll)
Length (Lbody)	548mm	Total body length
Width (Wbody)	370mm	Total body width
Body top height (Hup)	74mm	Distance from body top to body coordinate system
Body bottom height (Hdown)	44mm	Distance from body bottom to body coordinate system
Hip lateral spacing (Whip)	124mm	Distance between left and right hip joint centers
Hip longitudinal spacing (Lhip)	349mm	Distance between front and rear hip joint centers
Leg plane lateral spacing (Wleg)	328mm	Lateral distance between leg planes

Leg Dimensions

Parameter	Value	Description
Single leg weight	1.12kg	Leg weight
Leg plane to hip roll distance (L1)	102mm	Distance from hip roll joint to leg plane
Thigh length (L2)	200mm	Distance from hip pitch joint center to knee joint center
Shank length (L3)	210mm	Distance from knee joint center to foot center
Foot pad radius	20mm	Foot pad compliance radius

Coordinate System

The Jueying Lite3 uses a 3D coordinate system to describe the positional relationships between the body, sensors, joints, and feet.

Body Coordinate System

The origin of the body coordinate system is located at the geometric center of the robot body.

Joint and Foot Coordinate Systems

Note: Curved arrows indicate the positive rotation direction of the corresponding color-coded joint coordinate system.

Coordinate System	Color	X(m)	Y(m)	Z(m)	Note
FL_HipX	Red	0.1745	0.062	0	Relative to body coordinate system
FL_HipY	Yellow	0	0.0985	0	Relative to FL_HipX coordinate system
FL_Knee	Blue	0	0	-0.20	Relative to FL_HipY coordinate system
FL_Foot	Green	0	0	-0.21	Relative to FL_Knee coordinate system
FR_HipX	Red	0.1745	-0.062	0	Relative to body coordinate system
FR_HipY	Yellow	0	-0.0985	0	Relative to FR_HipX coordinate system
FR_Knee	Blue	0	0	-0.20	Relative to FR_HipY coordinate system
FR_Foot	Green	0	0	-0.21	Relative to FR_Knee coordinate system
HL_HipX	Red	-0.1745	0.062	0	Relative to body coordinate system
HL_HipY	Yellow	0	0.0985	0	Relative to HL_HipX coordinate system
HL_Knee	Blue	0	0	-0.20	Relative to HL_HipY coordinate system
HL_Foot	Green	0	0	-0.21	Relative to HL_Knee coordinate system
HR_HipX	Red	-0.1745	-0.062	0	Relative to body coordinate system
HR_HipY	Yellow	0	-0.0985	0	Relative to HR_HipX coordinate system
HR_Knee	Blue	0	0	-0.20	Relative to HR_HipY coordinate system
HR_Foot	Green	0	0	-0.21	Relative to HR_Knee coordinate system

★ The Jueying Lite3 robot structure and dynamics parameters can be found in the Lite3 URDF model.