OpenTorque Actuator

A powerful, compliant actuator for legged robotics.

Bill of Materials:

Part Name	Count
AMS AS5048A-TS_EK_AB encoder PCB	1
Herlea X8318S KV100 (Multistar 9235) brushless motor	1
THK RA8008 cross roller bearing	1
Pemnet IUB-M3-1 threaded insert	3
Pemnet IUB-M3-2 threaded insert	27
M5x30 (h7) steel dowel pin	3
625ZZ bearing	3
M2.5x4 hex cap screw	4
M3x12 hex flat head screw	23
M3x30 hex flat head screw	3
M4x16 hex flat head screw	4

Print Instructions:

Nozzle size:
    - 0.6mm
Layer height:
    - 0.2mm or under for Sun Gear, Planet Gears, and Actuator Housing
    - 0.4mm or under for all other parts
Infill:
    - 100% for Sun Gear and Planet Gears
    - 50% cubic infill for all other parts
Perimeters:
    - 4
Material:
    - Nylon for Sun Gear, Planet Gears and Actuator Housing (recommended: Polymaker CoPA)
    - Nylon, ABS, or Polycarbonate for all other parts

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

License: CC BY-SA 4.0

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