Tail Design - 5 Joints, 3 Actuators

A project log for Low Cost 3D printed Robot Tail

Cycloidal gearbox, brushless motors and Timing Pulleys

paul-gouldPaul Gould 02/17/2019 at 05:420 Comments

By linking two joints a smoother range of motion is possible with less actuators. A figure 8 pulley system using braided fishing line matches the angles of two adjacent joints. 

The next step was to make the tail narrower, which meant placing the motor to the side of the cycloidal gearbox and using a timing pulley to transfer the torque. The joint can now be made 55mm wide.