Homemade/ DIY Robot Link with Cycloidal Transmission and BLDC motor. It‘s driven by a custom Driver and the FOC runs on a ESP32 programmed with Arduino IDE.
All components were developed, design and manufactured by myself and a friend of mine as part of a bachelor semester project (three weeks total).
The goal was to create a modular robotic joint that has a resealable amount of torque with high efficiency (back drivable..).

Built in 2018