Robotics
ARTIXO RA90 Interactive 3D Model
Ø90 mm robot joint for cobots and humanoids: frameless motor, 50:1 strain-wave gear, cross-roller output bearing, motor encoder and a 14 mm through-bore, in one sealed housing.
ARTIXO is a fictional brand. This is a Proofscene demo product.
About the ARTIXO RA90
RA90 is a complete robot joint. A frameless motor turns a hollow shaft; on its end, an elliptical wave generator flexes a thin steel cup with 100 teeth inside a fixed ring with 102. Each motor turn walks the cup back two teeth, so the output turns 50 times slower and 50 times stronger, with almost no backlash.
The output flange is the inner ring of a cross-roller bearing, so the next link bolts straight on and the joint carries the arm's tilting load itself. A tube through the middle leaves a 14 mm bore for cables and air, and an optical encoder on the motor shaft closes the loop.
ARTIXO is a fictional brand made for this Proofscene demonstration. The model is drawn as CAD, part by part; the figures below are illustrative values typical of this joint class, not a datasheet.
Parts in the 3D model
- Housing
- Rear cover
- Motor end plate
- Circular spline (102 teeth)
- Flexspline (100 teeth)
- Wave generator plug
- Wave generator bearing
- Cross-roller bearing, outer ring
- Crossed roller (48)
- Output lip seal
- Output flange (inner ring)
- Through-bore cable tube
- Stator lamination stack
- Stator coil (12)
- Rotor hub
- Rotor magnet (14)
- Hollow motor shaft
- Motor bearing 61804-2Z (2)
- Encoder hub
- Encoder disc
- Encoder board
- Read head and ICs
- Capacitors
- Board header
- Board spacer (3)
- Connector, M12 8-pin
- Connector insert
- Connector contacts
- Screw M3 x 25, socket head (12)
- Screw M3 x 6, low head (8)
- Screw M2.5 x 10, countersunk (6)
- Screw M2.5 x 8, pan head (3)
Technical specifications
- Gear ratio
- 50:1 Cup-type strain-wave gear, size 17
- Rated torque
- 34 N·m Illustrative
- Peak torque
- 70 N·m Start and stop, illustrative
- Max output speed
- 60 rpm 3000 rpm at the motor
- Lost motion
- < 1 arcmin Illustrative
- Output bearing
- Cross-roller, 48 rollers Tilting moment about 75 N·m, illustrative
- Motor
- Frameless BLDC, 12 slots / 14 poles
- Supply
- 48 V DC
- Encoder
- Optical, 17 bit per motor turn Illustrative
- Connector
- M12, 8-pin, A-coded
- Envelope
- Ø90 × 94 mm
- Through-bore
- Ø14 mm For cables and air
- Output interface
- 12 × M4 on Ø54, Ø30 pilot, dowel
- Housing
- 6061-T6, hard anodised
- Mass
- about 1.6 kg Illustrative
Fictional demonstration product. ARTIXO is not a real company and RA90 is not a real part: the geometry is drawn by Proofscene on the layout of a cup-type strain-wave joint, and every figure on this page is illustrative.
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