Testbench Description

The /hardware directory contains all information about the hardware that is used to built the double pednulum test bench, including a bill of materials, step files of the CAD model along with wiring diagrams for the complete set up as well as the CAN bus. The documentation here covers assembly instructions and and instructions for the electrical setup.

Testbench Description

The mechanical design consists of a shoulder motor mounting bracket built with folded aluminum, and two light-weight links which are built either with laser cut 1 mm thick sandwich aluminum plates with a laminate of 15 mm PVC rigid foam board (Airex) in between or with 3d printed carbon fiber. By using these materials, the weight of the pendulum arms can be kept very low in relation to the drives and the end effector weight. The end of the first link contains the elbow motor housing and the end of second link mounts the weight. Since, the used motors do not provide a hollow shaft, the first link is mechanically extended in the opposite direction to prevent windup of cables.