https://github.com/ambadran/revolute_joint

Optimal Cheap Robotic Actuator allowing high Torque and moderate Speed. Allow PRECISE Absolute, Speed and Torque Control. Using 3D-printed Cycloidal Drive, Custom PCB and LQR Control Algorithm.
https://github.com/ambadran/revolute_joint

3d-printing closed-loop-control cycloidal-drive lqr-controller magnetometer

Last synced: about 1 year ago
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Optimal Cheap Robotic Actuator allowing high Torque and moderate Speed. Allow PRECISE Absolute, Speed and Torque Control. Using 3D-printed Cycloidal Drive, Custom PCB and LQR Control Algorithm.

• Host: GitHub
• URL: https://github.com/ambadran/revolute_joint
• Owner: ambadran
• Created: 2023-05-10T15:10:33.000Z (about 3 years ago)
• Default Branch: main
• Last Pushed: 2024-03-04T14:11:24.000Z (over 2 years ago)
• Last Synced: 2025-02-16T18:20:56.364Z (over 1 year ago)
• Topics: 3d-printing, closed-loop-control, cycloidal-drive, lqr-controller, magnetometer
• Language: Python
• Homepage:
• Size: 7.47 MB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
The Ultimate Revolute Joint could be reused for a multitude of applications.

Mechanics:

  - will be a stepper motor driving a 3d printed cycloidal drive

  - will have a python script to generate the cycloid for the mechanical design

Electronics:

  - will be a MOSFET PIC controlled with a magnetometer for closed loop control

Programming:

  - will be in C for xc8 PIC which have input UART/I2C/SPI exact angle command and using a damped exact closed loop control algorithm will drive the mosfets using the correct sequence to get the revolute joint to wanted angle.

  - will have a python script to easily communicate to the pic through a ttl converter or a micropython board using CLI and GUI to visualize