Robotis Dynamixel XM-430 Based Torque Reactive Joint

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The robotic joint was design with a gear ratio of 2 to 1. The mount holes on the back of the base match with the mount holes on the limb attachment piece allowing for easily connecting multiple joints in series. The parts where design in Autodesk Inventor, dimensions chosen to fit precisely with the model servo, modifications where made to the 3D printed models to allow for the lack of precision in 3D printing.

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Joint Base


Servo and Joint Gears

Servo-gear.png Joint-gear.png

Limb Attachment


Full Assembly

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