Open Robotic Actuator (ORA-2) 48.9 : 1

thingiverse

3d Printable Parts 10_1_2 - actuator body 10_2_1 - actuator cover 10_3_2 - 32:12 Gear 10_4_1 - Nema17 Shaft Gear 10_5_1 - 40:12 Gear 10_6_1- Main Gear 10_7_1 - Main Shaft 10_8_1 - Flange 10_9_1 - AS5600 Absolute Position Encoder Mount *Non-3d Printable Mechanical Parts* 6809 Bearing (45x58x7) 6002 Bearing (15x32x9) MR83ZZ Bearing (3x8x3) M4 Threaded Rivets M4x35 Screws M4x20 Screws M3x6 Screws M3x35 Screw M3x40 Screw *Electronics* Nema17 Stepper Motor AS5600 Absolute Position encoder *Test Environment* Linux PC Arudino Mega RAMPS 1.4 A4988 Stepper Motor Driver *Made for DIY and Prototyping* 3d printable Open Robotic Actuator. Designed for DIY and Prototyping purposes. Contains the minimal number of non-3d printed parts. Among the required non-3d printed parts are just bearings, screws and threaded rivets, widely available on any market *Low Precision Requirements* Unlike most of the planetary and cycloidal actuators ORA-2 does not require a high printing precision. All details can be printed with 100% scale and serve as-is without any post-processing except of RAFT/Supports removal. . *High-Torque* With 48.9 : 1 torque ratio the actuators ensures the torque of 3.25 nm for Nema 17HS4401 stepper motor. That is enough to build the wrist element of the robotic manipulator with 500-600 mm reach and 0.5kg of payload. Closed Loop The actuator is designed to use AS5600 12-bit absolute position Hall Effect encoder, that helps to keep track of the actual position of the actuator. This allows to programmatically compensate the mechanical deformation and backlash, determine when the actuator stucks due to excessive load or train the manipulator by moving it with your hand. Learn More The higher-torque actuator to build the shoulder and elbow elements of the robotic manipulator is available here: https://www.thingiverse.com/thing:5975305 See Telemetry Balkan doo Beograd website for the architecture documentation and the assembly instructions: https://www.telemetrybalkan.com/ora-2/