DIY Robot Actuator Development
[Brandon Lai] is hoping to build a humanoid robot. To that end, he’s going to need some actuators, and decided to design his own. His second pass at this turned out pretty well, with a few snags found along the way. Target specs were a actuator that could run at 40 to 60 rpm while delivering 20 Nm of torque for up to an hour continuously. The design was inspired by an MIT research paper, with [Brandon] making a few mods to suit his use case. Where the MIT design uses an inbui
Brandon Lai is working on creating a humanoid robot and has designed his own actuator. His second attempt met some challenges but showed promise. The actuator was intended to operate at 40 to 60 rpm with 20 Nm of torque for extended periods. The design was influenced by an MIT research paper, with modifications to improve performance. A cycloidal gearbox was used instead of a planetary one to reduce backlash. The actuator features a hand-wound stator and custom parts. Testing showed lower torque than expected and issues with the gearbox tolerances. The project exceeded the budget, but future improvements are planned. CAD files are available for further exploration. Several similar actuator projects have been covered previously.
This project highlights the challenges and iterative process involved in creating custom robotics components.
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