{"parts":[{"path":"./inventory/aceee229-5a08-5352-be0c-dac856ae0592/v1/","files":{"meta":"{\"format\":1,\"id\":\"aceee229-5a08-5352-be0c-dac856ae0592\",\"version\":1,\"kind\":\"mesh\",\"slug\":\"dynamixel-ph42-020\",\"name\":\"DYNAMIXEL-P PH42-020-S300-R\",\"publisher\":\"ROBOTIS\",\"license\":\"LicenseRef-ROBOTIS-CAD\",\"material\":{\"material\":\"anodised-aluminium\"},\"summary\":\"ROBOTIS's DYNAMIXEL-P PH42-020-S300-R, the 20 W, 42 mm actuator that turns the wrist, joints 5 and 6, of the OpenMANIPULATOR-P, taken from that arm's drawing. A full metal case, a coreless motor and a 303.8:1 gearhead. Its output flange carries eight M3 tapped holes, and every M3 tapped hole on the case is declared from the model. The flange turns against the case, its moving piece, from the Control panel.\",\"keywords\":[\"dynamixel\",\"dynamixel-p\",\"robotis\",\"actuator\",\"servo\",\"smart servo\",\"motor\",\"ph42\",\"p series\",\"openmanipulator\"],\"tags\":[],\"attributes\":{\"type\":\"smart serial bus servo\",\"power\":\"20 W\",\"rpm\":\"29.2 rpm continuous\",\"torque\":\"5.1 N·m continuous\",\"ratio\":\"303.8:1\",\"voltage\":\"24 V\",\"interface\":\"RS-485\",\"SKU\":\"902-0081-001\",\"weight\":\"340 g\",\"current\":\"0.57 A no-load, 1.5 A continuous\",\"resolution\":\"607,500 pulse/rev\",\"chip\":\"ARM Cortex-M4\",\"clock\":\"168 MHz\"},\"documents\":[{\"file\":\"drawing.svg\",\"kind\":\"drawing\",\"title\":\"Drawing, A4\"},{\"file\":\"drawing.dxf\",\"kind\":\"drawing\",\"title\":\"Drawing, A4 DXF\"}],\"links\":[{\"url\":\"https://emanual.robotis.com/docs/en/dxl/p/ph42-020-s300-r/\",\"kind\":\"guide\",\"title\":\"ROBOTIS e-manual\"},{\"url\":\"https://en.robotis.com/shop_en/item.php?it_id=902-0081-001\",\"kind\":\"product\",\"title\":\"ROBOTIS shop\"}],\"motion\":{\"kind\":\"revolute\",\"axis\":\"horn\",\"features\":[\"horn\",\"horn_1\",\"horn_2\",\"horn_3\",\"horn_4\",\"horn_5\",\"horn_6\",\"horn_7\",\"horn_8\",\"horn_9\",\"horn_10\",\"horn_11\",\"horn_12\"],\"min\":-180,\"max\":180,\"speed\":175.2},\"parameters\":[],\"stepFrame\":{\"r\":[1,0,0,0,0,-1,0,1,0],\"t\":[0,0,78]},\"related\":[\"1f8eb4fb-d3ce-53b3-bf77-eec03a4c26df@1\",\"2b712f1b-6d05-549b-91e8-08bbda9b7e8d@1\",\"6f908139-78b2-5501-a512-36f5899e8852@1\",\"cb02dc6d-2f59-5749-847a-63f35948152f@1\",{\"part\":\"45f52415-4ab2-495e-800e-96ef3ab1f534@1\",\"parameters\":{\"size\":\"M3\",\"shank_len\":8}}]}","features":true,"glb":true,"edges":true}}],"related":{},"categories":{},"skuCategories":{},"componentPages":{},"families":["dynamixel-p"]}