Unitree Go2 motor

Características principais

• Exceptional Torque: The largest joint motors deliver a Peak Joint Torque of approximately ³$45 \text{ N}\cdot\text{m}$ (Newton-meters), providing robust power for dynamic actions, climbing, and carrying payloads.
• Integrated Design & Cooling: Featuring an intra-joint circuit (knee) design and Joint Heat Pipe Coolers, these motors maintain optimal performance and prevent overheating during intense operation.
• Enhanced Efficiency: The motor system is designed for high efficiency, contributing to the Go2’s impressive battery endurance. The system operates within a voltage range of ⁶$28 \text{V} \sim 33.6 \text{V}$ with a maximum working power of approximately ⁷$3000 \text{W}$.
• Precision Control: These motors offer a large and precise range of motion for each joint:
  • Body Joint: $-48^\circ \sim 48^\circ$
  • Thigh Joint: ¹⁰$-200^\circ \sim 90^\circ$
  • Shank Joint: ¹¹$-156^\circ \sim -48^\circ$
• Advanced Actuator Technology (Likely based on the GO-M8010-6 model):
  • Tipo: Permanent Magnet Synchronous Motor (PMSM) with a highly integrated design.
  • Control: Utilizes a built-in Field-Oriented Control (FOC) algorithm for smooth, efficient, and precise operation.
  • Feedback: Includes an absolute value encoder and a temperature sensor for real-time monitoring and control of torque, angle, and angular velocity.

The motors are the backbone of the Go2’s ability to achieve high speeds (up to ¹⁵$5 \text{ m/s}$ in laboratory tests), handle significant payloads (up to ¹⁶$12 \text{ kg}$ max in EDU/PRO models), and execute complex movements like jumps, adaptive roll-overs, and precise side-follow maneuvers.