Redesign of the OpenTorque Actuator

A powerful, compliant actuator for legged robotics.

Bill of Materials:

• ball bearing 70mm ID, 90mm OD, 10mm thickness (2x)
• ball bearing 15mm ID x 28mm OD x 7mm thickness (6x)
• M3 x 20mm, socket head (19x)
• M3 nut (32x)
• M3 flat head x 20mm (14x)
• M3 flat head x 10mm (10x)
• M2.5 x 10mm, socket head (4x)
• M2.5 nut (4x)
• M4 flat head x 10mm (4x)
• M4 socket head x 20mm (4x)
• M4 nut (10x)
• AMS AS5048A-TS_EK_AB encoder
• Herlea X8318S KV100 (Multistar 9235) brushless motor
• cable for encoder

printed in PET-G, with 3 perimeters and 15% infill (gyroid), 5 solid top layers and 4 solid bottom layers. No support needed for the parts.

build instructions can be found under: https://discourse.odriverobotics.com/t/opentorque-project-new-design/8280

redesign by: RevisonNr3

original design by: Gabrael Levine (https://github.com/G-Levine/OpenTorque-Actuator)

License: CC BY-SA 4.0