<ul data-eligibleForWebStory="false"><li>Engineer [Caden Kraft] developed a budget quasi-direct-drive motor inspired by MIT's Mini Cheetah, which is low-cost compared to commercial alternatives of similar performance.</li><li>The motor features a 3D-printed Halbach array for the magnets, a planetary gearbox with cycloidal gear profiles, hand-wound stator, and a cheap embedded motor controller.</li><li>[Caden] tested the actuator and achieved 29.4 Nm of torque, almost three times his initial goal, while costing less than $80 to build.</li><li>Despite drawing 50 A during testing, the actuator did not suffer damage, showcasing its robust design and exceeding performance expectations.</li></ul>

A Budget Quasi-Direct-Drive Motor Inpired By MIT’s Mini Cheetah

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