Drive system VESC

3D-printed OpenTorque Actuators

A powerful, compliant actuator for legged robotics OpenTorque is an open-source implementation of the quasi-direct-drive actuation scheme pioneered by the MIT Biomimetics lab. The basic premise is this: use the largest possible motor with the smallest possible gear reduction. This results in an actuator that is robust, highly backdrivable, and capable of proprioceptive force sensing […]

Drive system final design
Drive system

Drive System Design Completion

So this weekended I have been working on finishing the design of the drive system. I have updated the initial design of the 2-pulley gearing into a 4-pulley gearing. The main reason for the update is to have the ability the to achieve a lower wheel surface speed. The brackets are also designed with adjustable offsets, so […]

Tachometer RPM measure
Drive system motors

Gearing Ratio and Pulley Designs

Before switching over to BLDC motors, I was going to use brushed DC motors with planetary gear. I did a few test runs with the brushed DC motors with a Roboclaw motor controller and was not happy with the noise from the motor/gears (the robot was doing to much noise). One advantage with the planetary gear was […]