PRELIMINARY - CONFIGURATION AND PACKAGING CAD ONLY - NOT APPROVED FOR PROCUREMENT, FABRICATION, ASSEMBLY, POWERED TESTING, MOTION, OR ENERGIZATION

Ten serviceable joint families for the complete robot.

Every HR-30 axis maps to one of these reusable physical stacks. The native geometry includes shafts, catalogue-bearing candidates, truss carriers, retainers, fasteners, actuator B-Reps, transmission members, encoder carriers and guards where applicable.

Orbit all ten candidates

Drag to orbit; scroll or pinch to zoom. Download the native lineup STEP, stack register, part register, or fit/retention register.

Reusable family exports

01-COMPACT

compact supported direct joint

4 whole-body axes · 12 visible candidate parts · 1.0:1 candidate

STEP · GLB

02-GRIPPER

parallel hand-shaped gripper drive

2 whole-body axes · 14 visible candidate parts · SELECTION REQUIRED

STEP · GLB

03-SHOULDER-GIMBAL

shared intersecting-axis reduced shoulder gimbal

4 whole-body axes · 25 visible candidate parts · 1.5:1 exact catalogue candidate

STEP · GLB

04-MEDIUM

medium supported direct joint

2 whole-body axes · 12 visible candidate parts · 1.0:1 candidate

STEP · GLB

05-WAIST

large supported waist turntable

1 whole-body axis · 12 visible candidate parts · 1.0:1 initial candidate

STEP · GLB

06-LEG-DIRECT

large supported direct leg joint

2 whole-body axes · 12 visible candidate parts · 1.0:1 W0 candidate

STEP · GLB

07-LEG-REDUCED-15

parallel-axis reduced leg joint

2 whole-body axes · 22 visible candidate parts · 1.5:1 exact product/geometry candidate

STEP · GLB

08-LEG-REDUCED-20

higher-reduction hip/ankle roll joint

4 whole-body axes · 22 visible candidate parts · 2.0:1 exact product/geometry candidate

STEP · GLB

09-KNEE-REDUCED-25

2.5:1 knee transmission with dual-supported output

2 whole-body axes · 22 visible candidate parts · 2.5:1 exact product/geometry candidate

STEP · GLB

10-ANKLE-PITCH-REDUCED-25

compact 2.5:1 ankle-pitch transmission

2 whole-body axes · 22 visible candidate parts · 2.5:1 exact product/geometry candidate

STEP · GLB

Buildability boundary

These assemblies make the current mechanical concept explicit and serviceable, but they are not released manufacturing models. Exact shaft material and heat treatment, bearing suffix and life, fits, shoulders/grooves, pulley/belt products, encoder products, fastener property classes, preload/locking, guards, tolerance stacks, capacity, DFM, FAI and physical proof remain unresolved. No work authority follows.