The actuators used in Minitaur are now available as a module including motor, controller, and mounting plate that doubles as heatsink.
Easy to use: the modules interface with our custom mainboard controllers using PWM over a standard RJ45 (ethernet cable) and XT60 power connectors.
Full featured control: full impedance and position control are possible.
Actuator transparency: high torque when you want it, excellent backdrivability when you don't.
High bandwidth: direct-drive delivers unparalleled actuator bandwidth.
Reflected Inertia: 0.0001 kgm2
Static Friction: 0.056 Nm
Kinetic Friction: 0.023 Nm
Viscous Friction: 0.00013 Nm/(rad/s)
Continuous torque: 0.85 Nm
Peak torque: 3.5 Nm
No-load speed (16V): 27 rev/s
Peak power (16V): 240 W
Encoder resolution: 4096 counts/rev
Actuation frequency: full rotation up to 20Hz
Mass: 360 g
For a quote, please contact: firstname.lastname@example.org