April 17, 2023
Description
3d Printable Parts
Non-3d Printable Mechanical Parts
Electronics
Test Environment
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-3 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.
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High-Torque
With 1:80 input/output torque ratio the actuators ensures the torque of 6.5 nm for Nema 17HS4401 stepper motor or 10.5 nm for Nema17HS6001 stepper motor. That is enough to build the robotic manipulator with 500-600 mm reach and 0.5kg of payload.
The load-test video is available in YouTube:
https://youtu.be/fpqRNPW94bw
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
See Telemetry Balkan doo Beograd website for the architecture documentation and the assembly instructions:
https://www.telemetrybalkan.com/product/ora-3/
Smaller size actuator intended to build the wrist elements of the robotic manipulator is available here:
https://www.thingiverse.com/thing:5992059
License:
Creative Commons - Attribution
sergei_2lemetry
