a symmetrical power transmission from a pair of stationary rings on both<br>sides, to a central output ring.<br>Ratio: 32:1<br>Torque: to check<br>Motor: 9235<br>Encoder: AS5048A<br>Size: 180x62mm<br>Weight: around 1200-1300grams<br><br>CAD files:<br><a target="_blank" rel="noopener noreferrer" href="https://www.thingiverse.com/thing:3229889">https://www.thingiverse.com/thing:3229889</a><br><br>
You must be aware of Gabrael Levine's open torque actuator https://hackaday.io/project/159404-opentorque-actuator