MACI cobot composed of 6 joints, 3 joints 100 Nm and 3 joints 35 Nm. The joints are controlled thanks to 3 ODrives. Each joint is composed of a brushless motor, an encoder AMT102-V (to see if I change for an AS5048) and a cycloidal reducer.
The 2 sizes of joints, the big one, 80mm of diameter and 100 Nm of torque. The smaller, 70mm of diameter and 35 Nm of torque.