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 APE-X Pro 

A Qausi-Direct Drive (QDD) actuator inspired by the MIT Cheetah. Used in many robotics, a QDD actuator allows for precise control and other features:
 

  • Smaller form factor due to integration of Planetary gear drive along with the motor in one unit.

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  • Elastically dampened backdrivability allows for better simulation of biomimetics.

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  • Peak Torque  - 12 Nm indicates better weight to torque ratio.

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  • Motor control driven using MJBots  Moteus r4-8 board which allows for daisy chaining using CAN bus.   

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General Arrangement

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Planetary Gear Box

The Ape-X pro actuator uses a 1:6 ratio gear box which allows for a jump in torque from 2Nm to 12Nm. A reduction on speed by x6 will reduce the speed of the actuator, however this is offset through the use of a higher voltage supply to supplement the RPM loss.

Section View

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Machined Parts

Below are the drawings for the current machined parts. Not all drawings are completed yet however over 60% of the parts have been produced using PCBWay CNC Machining. The photos for parts as is can be seen in the second image set below:

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