Hardware & Practical Projects
Open-source builds, 3D-printable actuator gearboxes, tactile sensor rigs, and BOM breakdowns. Every build includes stress test data and lessons learned from destroyed motors.
6-DoF Cycloidal Desktop Manipulator
A high-precision desktop manipulator utilizing standard 5010 drone outrunners, custom 11:1 3D-printed PETG-CF cycloidal reducers, and an ESP32 CAN-Bus controller. Total repeatable payload of 1.4kg at 350mm reach.
- Do NOT print cycloidal discs in PLA: Glass transition temperature (~55°C) caused tooth softening after 25 minutes of continuous torque holding. Use PETG-CF or PA12-CF.
- Add decoupling capacitors to CAN transceiver: 24V motor inductive kickback caused SPI bus lockups on joint #3.
- 01 PARTS
Source 5010 outrunners, AS5600 magnets, PETG-CF, and the CAN board.
- 02 PRINT
Print cycloidal discs in PETG-CF. Never PLA.
- 03 ASSEMBLE
Press 608RS bearings, set eccentric, check tooth mesh by hand.
- 04 WIRE
CAN bus + decoupling caps on the transceiver before first spin.
- 05 CALIBRATE
Zero AS5600 offsets; log backlash at 1.4 kg payload.
- 06 TEST
Continuous 25-minute torque hold; watch winding temperature.
- 07 BREAK
PLA discs failed here. PETG-CF survived the same protocol.
- 08 RESULT
Repeatable 1.4 kg at 350 mm, backlash < 0.18 deg.
Low-Cost Stereo Visual-Inertial Odometry Rig
Dual global shutter OV9281 cameras synchronized with BNO085 IMU for sub-centimeter indoor drone positioning.
CAN-Bus Gripper with Tactile GelSight
Elastomer gel pad with internal micro-camera for texture slip detection. V1 delaminated; V2 bonded with silane primer.
Open-Source Quadruped Gait Generator
Convex MPC controller running in micro-ROS for 12-DoF quadruped robots navigating fractured asphalt.