Aaed Musa CARA Robot Project 47907

Built over the course of a year, CARA is easily my most dynamic and well-designed quadruped yet. Unlike most quadrupeds, CARA doesn’t use any gears or pulleys. Instead, her joints are driven by rope through capstan drives. CARA is also the second quadruped ever to use capstan drives, following Stanley. If you’re unfamiliar with how capstan drives work, I’ve made a 20-minute video — High Precision Speed Reducer Using Rope — that explains everything you need to know. CARA builds directly on what I covered in that video. Capstan drives offer several advantages: zero backlash, high torque transparency, low inertia, low cost, and quiet operation. These qualities make them an ideal speed reducer for robotics.
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