Project · prototype
Quasi-direct-drive actuator
A 3D-printed, hand-wound QDD actuator after the MIT Mini Cheetah, driven over field-oriented control. Built to be reproducible from printed parts and off-the-shelf components.
The actuator is built around an 8110 stator wound by hand with 26 AWG enamelled copper, with a printed rotor carrying 42 N52 magnets and a printed planetary reduction. It runs on a Flipsky ODESC V4.2 in field-oriented control.
The full parts list, including the test stand it was brought up on, is in the leg test stand guide.
Design credit for the actuator geometry goes to Nachum Twersky, whose published build this follows.