OpenQDD - 3D-printed open-source robotic actuator
The author designed this robotic actuator to be a powerful, easy-to-build, and relatively inexpensive solution to creating dynamic robots. Robots like Spot, Atlas, and the MIT mini cheetah easily impress the eye with their agility, speed, and overall ability to mimic natural motion. With OpenQDD, creating high-performing actuators at an affordable price is possible.
Features:
▫️ 9:1 Planetary Gear Set
▫️ Helical Gears: 25° Helix Angle, Low Backlash
▫️ ODrive S1 FOC Controller with an Onboard Encoder
▫️ Air Vents for Passive Cooling
▫️ Peak Holding Torque: 16.36 Nm
▫️ Total Mass: 935g
▫️ 13 3D-Printed Parts
▫️ Total Cost: $247
The actuator uses a 90KV Eagle Power BLDC Motor as well as an ODrive S1 FOC controller. In closed-loop control mode, the S1 allows you to control the position, velocity, and torque of a brushless motor.
https://www.aaedmusa.com/projects/openqdd
Aaed Musa
OpenQDD Actuator — Aaed Musa
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