25
separately protected actuator pairs retained
6
local distribution nodes
3
exact Alpha cable families
0
released protection values or powered permissions
Why the architecture changed
Using Alpha 861802 for every axis would exceed the geometric cross-sectional area of both leg, both arm, and head corridors. One multi-core trunk per corridor fits the diameter screen while preserving a dedicated protected pair for every axis.
The cable-only nominal comparison produces a worst bounded 80°C drop of 0.0749 V at the current candidate caps and existing straight-line planning lengths. That is not a thermal rating or final voltage-drop result.
Whole-body topology
Local protection nodes
DP-HEAD
2 protected channels
torso/neck base
HEAD_PAN; HEAD_TILT
DP-LARM
5 protected channels
left shoulder root
L_SHOULDER_PITCH; L_SHOULDER_ROLL; L_ELBOW_PITCH; L_WRIST_ROTATION; L_GRIPPER
DP-LLEG
6 protected channels
left pelvis/hip root
L_HIP_YAW; L_HIP_ROLL; L_HIP_PITCH; L_KNEE_PITCH; L_ANKLE_PITCH; L_ANKLE_ROLL
DP-RARM
5 protected channels
right shoulder root
R_SHOULDER_PITCH; R_SHOULDER_ROLL; R_ELBOW_PITCH; R_WRIST_ROTATION; R_GRIPPER
DP-RLEG
6 protected channels
right pelvis/hip root
R_HIP_YAW; R_HIP_ROLL; R_HIP_PITCH; R_KNEE_PITCH; R_ANKLE_PITCH; R_ANKLE_ROLL
DP-WAIST
1 protected channels
pelvis waist bay
WAIST_YAW
Corridor screens
| Corridor | Axes | Old individual-cable fill ratio | Successor trunk | Trunk fill ratio | Bend screen |
|---|---|---|---|---|---|
| HN01_HEAD_POWER_BRANCH | 2 | 0.975805 | 861804 | 0.619999 | PASS ROUTE-GUIDE GEOMETRY |
| HN01_L_ARM_POWER | 5 | 1.561287 | 861812 | 0.873701 | PASS ROUTE-GUIDE GEOMETRY |
| HN01_L_LEG_POWER | 6 | 1.301073 | 861812 | 0.606737 | PASS ROUTE-GUIDE GEOMETRY |
| HN01_R_ARM_POWER | 5 | 1.561287 | 861812 | 0.873701 | PASS ROUTE-GUIDE GEOMETRY |
| HN01_R_LEG_POWER | 6 | 1.301073 | 861812 | 0.606737 | PASS ROUTE-GUIDE GEOMETRY |
| HN01_TORSO_POWER_SPINE | 1 | 0.159315 | 861802 | 0.159315 | PASS ROUTE-GUIDE GEOMETRY |
A fill ratio below 1 only proves the circular-area/diameter screen. It does not prove pullability, clearance, chafe, clamping, or tolerance.
Still open before fabrication
- DPH-H01 — six distributed protection nodes lack selected eFuse/fuse components and PCB schematics
- DPH-H02 — upstream feed conductors/connectors to each distributed node are not sized
- DPH-H03 — arm trunk 861812 has only 0.6528 mm diametral corridor clearance at maximum published OD
- DPH-H04 — all six route-guide radius screens pass, but guard, snag and full-pose collision clearance remain unexecuted
- DPH-H05 — local 861802 branch loops and joint crossings have no accepted 3D sweep or cut length
- DPH-H06 — 861812 12-core intermediate breakouts are not schematic- or PCB-defined
- DPH-H07 — published conductor DCR values are nominal, not maximum, and bundle temperature is unvalidated
- DPH-H08 — Micro-Fit reference ratings do not release the HR-30 connector application
- DPH-H09 — Alpha 3051-to-JST EH actuator pigtail remains the 22 AWG endpoint bottleneck
- DPH-H10 — no exact supplier quotation, received lot, certificate, or availability has been accepted
- DPH-H11 — protective-earth, shield and reference bonding remain outside this power-cable package
- DPH-H12 — no physical build or powered evidence exists