(8:1) 3D Printed Planetary Gear Actuator Module

You can check it here;

https://ieeexplore.ieee.org/document/8957033

Repeatability Test

The fully 3d printed 8:1 planetary geared actuator is controlled by mj-vesc(https://hackaday.io/project/167706-mj...). The precise position servo control is done by goto control mode(https://hackaday.io/project/167706-mj...). In this video, it shows the repeatability of single actuator. The result shows that it guarantees sub 0.01mm accuracy (standard deviation : 0.0058mm measured at 150mm from actuator center)