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Ironless Rotor Cycloidal Planetary Actuator

cadenkraft.com · 2,829 words · saved by 3 readers

I designed a 3D printed quasi-direct-drive actuator that only costs $70 and can reach nearly 30 Nm of holding torque

In my last SCARA arm project , I had a very frustrating experience designing high torque/high accuracy gearboxes for the Nema 23 stepper motors I used. Ideally for that project I could have used fancy off the shelf servos or QDD (quasi-direct-drive) actuators like the MIT Mini Cheetah. The problem with these is that they generally cost ~$500-1000 each, which is something I can't really justify for my projects. This led me to want to develop my own QDD actuator with a heavy focus on keeping the cost low, both on the parts and tools needed to create one. What's a QDD actuator? A quasi-direct-dri

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