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Optimal Cheap Robotic Actuator allowing high Torque and moderate Speed. Allow PRECISE Absolute, Speed and Torque Control. Using 3D-printed Cycloidal Drive, Custom PCB and LQR Control Algorithm.

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ambadran/Revolute_Joint

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The Ultimate Revolute Joint could be reused for a multitude of applications.

Mechanics:

  • will be a stepper motor driving a 3d printed cycloidal drive
  • will have a python script to generate the cycloid for the mechanical design

Electronics:

  • will be a MOSFET PIC controlled with a magnetometer for closed loop control

Programming:

  • will be in C for xc8 PIC which have input UART/I2C/SPI exact angle command and using a damped exact closed loop control algorithm will drive the mosfets using the correct sequence to get the revolute joint to wanted angle.
  • will have a python script to easily communicate to the pic through a ttl converter or a micropython board using CLI and GUI to visualize

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Optimal Cheap Robotic Actuator allowing high Torque and moderate Speed. Allow PRECISE Absolute, Speed and Torque Control. Using 3D-printed Cycloidal Drive, Custom PCB and LQR Control Algorithm.

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