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Shoulder Joint

Assembly

Highest-torque joint of the arm, a harmonic-drive actuator at the turret base providing azimuth and shoulder pitch. A full specification article for this item is being written. Meanwhile its bill of materials and connections are below.

Bill of materials for Shoulder Joint

4 top-level lines as of r16244
# Item / sub-assembly Part no. Qty/assy Ext. qty Parts Type
1 Servo Motor 4 parts servo-motor 2× 2 0 assembly
2 Harmonic Drive Unit bdr-harmonic-drive 2× 2 · part
3 Encoder encoder 2× 2 · part
4 Oil Seal oil-seal 2× 2 · part