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predecessor pulley/coupler placeholders mapped to concrete successors.
Orbit the successor assembly
What changed
4
shoulder axes use 16:24 5GT catalogue candidates with 185 mm belts.
9
direct joints have four editable blind-bore split-clamp adapter families.
0
procurement, fabrication, powered-test, motion, or energization approvals.
The shoulders are no longer ratio-only sketches
Each shoulder axis uses a GPA16GT5090-A-P10 motor pulley, a GPA24GT5090-A-P10 supported-output pulley, and one GBN185EV5GT-090 37-tooth belt candidate. The 16:24 pair gives 1.5:1 reduction and a solved 42.0177 mm nominal pitch center. All four motors use the exact XM430/HN12 packaging source.
Direct adapters
| Family | Axes | Motor interface | Supported output |
|---|---|---|---|
| DA-XC330-S6-L36 | HEAD_PAN, HEAD_TILT, L_WRIST_ROTATION, R_WRIST_ROTATION | XC330 OUTPUT WHEEL PCD12 | 6 mm blind socket; split/pinch access |
| DA-HN12-S10-L51 | L_ELBOW_PITCH, R_ELBOW_PITCH | HN12-N101 | 10 mm blind socket; split/pinch access |
| DA-HN13-S17-L43 | WAIST_YAW | HN13-N101 | 17 mm blind socket; split/pinch access |
| DA-HN13-S12-L61 | L_HIP_YAW, R_HIP_YAW | HN13-N101 | 12 mm blind socket; split/pinch access |
Still required before making parts
Written product quotes and received-part registration; shaft and bearing fits; material and heat treatment; tolerance, runout, clamp and fastener calculations; belt tension and life; motor/horn retention; interference and motion sweeps; guards; DFM; first-article inspection; load, thermal, endurance and fault testing; and qualified mechanical review. This package removes placeholder geometry, not those obligations.