Open Robotic Actuator (ORA-2) 48.9 : 1

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.
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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/product/ora-2/