With this linear application would be interested to hear you opinion on roller screws for torque dense linear actuation (what Tesla bot is using). Seems like they check the boxes for very high force density and speed (comparable to hydraulics). I know you did a lot of work on the custom proprioceptive actuators for cheetah, which was all rotary - do you see any downsides w.r.t impact mitigation or other areas for the roller screws? (cause they seem pretty great :) )
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Can't wait to see test results :) How's the cg on the reaction wheel?
ReplyDeleteAwesome it looks super fly ;)
ReplyDeleteThose are some tiny teeth (or it's just bigger than it looks:). GT2?
ReplyDeleteyep, 2mm pitch gt pulley
DeleteWith this linear application would be interested to hear you opinion on roller screws for torque dense linear actuation (what Tesla bot is using). Seems like they check the boxes for very high force density and speed (comparable to hydraulics). I know you did a lot of work on the custom proprioceptive actuators for cheetah, which was all rotary - do you see any downsides w.r.t impact mitigation or other areas for the roller screws? (cause they seem pretty great :) )
ReplyDelete