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Actuator Testing

A project log for 3D Printed Robot Actuator

A high speed and high torque robotic actuator using low-cost brushless motors, custom controller, 3D printed parts and bearings.

paul-gouldPaul Gould 06/01/2018 at 15:310 Comments

Testing using the Brushless motor, Cycloidal gearbox, Position sensors, Controller and LiPo Battery

My prototype actuator has a tested no load speed of 60deg in 0.2sec @ 12V, 4A @ 50 Max PWM

I have not tested the max stall torque but 10Nm is currently suitable for my needs.

The motor can handle 600W (22V @  27A) and the brushless controller can handle 4000W (40V @ 100A) (both dependent on cooling)

In comparison, the Dynamixel MX-106R is the servo I wanted as it had 100kg/cm (10Nm) stall torque but it's no load speed is 55RPM and it cost ~US$500

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