For a design challenge, I created a robotic leg using capstan drives and pulleys in 2 days. Requirements Specifications: Extended leg length 0.5m Hip and knee continuous torque of 7Nm at 40 rad/s Maximize actuator torque density: motor, gearbox, housing Minimize leg inertia (distal mass and total mass) Off the shelf fastners and components whereContinueContinue reading “The Robo Leg”
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