PRELIMINARY - WHOLE-BODY PRODUCT PACKAGING CANDIDATE ONLY - NOT APPROVED FOR PROCUREMENT, FABRICATION, ASSEMBLY, POWERED TESTING, MOTION, OR ENERGIZATION

The exact candidate leg drives and adapters are installed on the complete robot.

Ten generic ratio-only transmission placeholders are replaced by product-specific P-bore pulleys, belts, exact horns, shifted actuators, motor adapters, shouldered output shafts, capture washers and guard envelopes.

Orbit the complete installation

Whole-body STEP · drivetrains-only STEP · installation register.

Controlled installation boundary

10

reduced axes carry exact product candidates and nominal adapter solids.

3 + 2

motor-adapter and output-shaft families are reused bilaterally.

45 / 55 mm

pitch drives sit outboard; roll drives sit behind their bearing stacks.

0

nominal inter-drive common-volume pairs required for this package to pass.

Still unresolved

The adapter solids close the nominal geometric gap, not the engineering release. Material, fits, tolerances, runout, fastener length/grade/locking/torque, pulley set-screw capacity, through-bolt retention, bearing-side load effects, guarding details, cable and cover sweep, tension, fatigue, mass/COM reconciliation, gait dynamics and physical validation remain open. The rigid-envelope screen grants no fabrication, motion or energization authority.