Custom motor for robotics

A better-than-servo motor for robotics

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Custom-made high-torque low-noise servo motor for walking robots

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anythingwithawire wrote 08/15/2020 at 13:13 point

When you use PID control on something like this try using a Posicast two part setpoint control, no overshoot, close to best case rise time.

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Daren Schwenke wrote 04/08/2019 at 04:45 point

Thank you!  This project inspired me to create #MPRT - Modified planetary robotics transmission . This would let you get 15x more gear reduction with one change to your design, if you end up needing more reduction.  Open source parametric model and explanation video is up.

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Misha wrote 04/09/2019 at 00:34 point

Good to know I'm inspiring someone :)
Thank you Daren!
Had a look at your project - it looks original!

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Danny Andreev wrote 04/01/2019 at 23:45 point

Oh you sexy SOB! I love this level of integration!

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snowluck2345 wrote 03/21/2019 at 04:46 point

I'd like to buy one of these too. What is the gear ratio / backlash / torque output / back driving torque?

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Misha wrote 03/21/2019 at 05:12 point

First, thank you very much for encouragement! Please understand that I just finished first prototype and I'm now about to test it in actual robot. I did not have a chance yet to measure torque/speed curve.

There were a couple of hints that people may be interested to buy but I don't know how serious they are. Right now I don't have any available for sale. Also, in low quantities they will be quite expensive, about $300-$500, will be cheeper when mass-produced.

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prakhar123mishra wrote 03/20/2019 at 05:28 point

great work....  i also want to become a mamber of your project.

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jamma wrote 03/16/2019 at 16:11 point

Count me in for a group buy of the actuator!

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Misha wrote 03/20/2019 at 01:41 point

Im considering ways to commercialise it, if your offer is serious, please PM me and we can talk. Also what is your project?

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Coye Knoll wrote 03/15/2019 at 15:38 point

nice work i like the design

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John Henry wrote 03/15/2019 at 01:32 point

Elegant Design

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Misha wrote 03/15/2019 at 22:21 point

Thanks John!

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F D wrote 03/14/2019 at 16:57 point

Nice! I'm wondering where exactly did you get the gears and the aluminium cut? Looking to do some similar work for a split keyboard (I CAD it, send it off to china, get it back) and don't really know who's reliable...

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Misha wrote 03/15/2019 at 22:23 point

hi FD! there is lots and lots of companies in China that will be happy to do it for you. algorithm: go google or alibaba. send 10-20 rfq. pick your favorite. easy ;)

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Darren V Levine wrote 03/12/2019 at 04:37 point

Impressive project! Thank you for making the driver board open source, I'll have to try fabricating one. I especially like the simple commanding interface. Best of luck!

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Misha wrote 03/15/2019 at 22:25 point

if you ask me nicely i can send you one :) you will need to buy your iwn motor though.

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Darren V Levine wrote 03/16/2019 at 19:43 point

That would be wonderful if you have extra available!! I would purchase a motor driver board in a heartbeat. PM me the details if that's the case and we can work out the logistics. If your driver board ends up meeting the needs for my open source walking robot project ( it would really speed up my project timeline.

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Misha wrote 03/20/2019 at 01:34 point

please pm me with your email and we can discuss!

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lewis.siempelkamp wrote 04/01/2019 at 06:42 point

Huh? I'm not seeing any details regarding the driver design. Where are those located?

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Evert Chin wrote 03/10/2019 at 23:24 point

those motors are beautifully machined. 

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John Stockton wrote 03/09/2019 at 14:28 point

Great job with the project.  Very nice machining.  Did you custom wind the stator?  Keep up the good development work!

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bozkurt13 wrote 03/06/2019 at 20:32 point

Eğer cad dosyaları yayımlamak planlıyor musunuz?

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perry levac wrote 03/05/2019 at 05:33 point

super great job.

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Douglas Plumley wrote 03/04/2019 at 17:32 point

Looks awesome!  Any idea how much torque you can get out of the servos?

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Misha wrote 03/02/2019 at 22:42 point

Thanks Dan!

I designed it (with help of freelancers) and then they were cut in China.

Gears also custom designed.

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Daniel Mazurkiewicz wrote 03/15/2019 at 19:04 point

How much did it cost?

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Misha wrote 03/20/2019 at 01:38 point

honestly I don't know the answer myself, firstly because Im not careful with money, secondly because there was a lot of prototypes leading to this design and it is hard to draw the line. I'd say $300-$500 each. Production quantities could be hopefully 3 times cheaper.

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Dan Maloney wrote 03/02/2019 at 20:54 point

Wow, those are beautiful! Did you machine the parts yourself or job it out? Are the planetary gears custom or off-the-shelf?

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Dorijan wrote 03/04/2019 at 22:45 point

Do you know this site ? it is like Mouser of small gears and similar stuff. Prices are mostly not great. But they do provide CAD models and still nice option to have if you don't have much experience with mechanical design.

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Misha wrote 03/15/2019 at 22:26 point

thanks I'll check it out!

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