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Earlier Actuator Designs

My earlier actuator designs explored NEMA 17 or NEMA 23 stepper motors driving 9:1 planetary gearboxes. I used TB6600 stepper drivers and rear-mounted AS5600 shaft encoders. The surviving footage shows the assemblies moving a long test arm on the bench.

White actuator housing with a long black test arm on the workbench. — Earlier actuator with its test arm attached. Frame from the bench footage.

Stepper-driven prototypes

These designs paired a stepper input motor with a planetary reduction stage. The motor and gearbox were assembled into a prototype actuator, with an AS5600 encoder mounted behind the stepper.

On the test bench

The white housing and black test arm show one of the earlier assemblies. The close-up and wider clips show the arm moving through different positions.

Technical details

Input motors: NEMA 17 or NEMA 23 stepper motors across the earlier designs.
Reduction: 9:1 planetary gearbox.
Motor drivers: TB6600 stepper drivers.
Feedback hardware: AS5600 shaft encoder mounted behind the stepper.

A closer look

A close view of the earlier actuator moving its test arm.

A longer bench test showing the arm moving through several positions.