Quadrupedal robot M1

Self made quadrupedal robot in progress. Every part is designed in fusion 360 and then 3d printed with an ender 3 pro and a resin printer.

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I am currently making a quadrupedal robot. The robot uses 4 Nema17 stepper motors for the upper joints ( with a self designed and 3d planetary gearbox with a reduction of 40:1) and 4 “12 VDC” motors for each of the lower joints (those motors each have a stacked planetary gearbox with a total reduction of 1600:1 per lower joint motor). The robot is controlled via bluetooth with a selfmade bluethooth controller and the robot itself worls on a arduino uno and nano. Currently i am working on the code.

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