# Brushless Actuator Module Core v1

<img src="images/actuator_module_1.png" width="500">

## Description
We developed a light-weight, low cost, minimal complexity, torque-controlled actuator module for robotic research.  
The actuator module consists of a brushless outrunner motor, a high resolution optical encoder, a dual stage timing belt transmission and mostly 3d printed parts and off-the-shelf components.  
The module has a segment length of 160mm, weighs 150g and outputs 2,5Nm at 12A.

The **updated version** of the Brushless Actuator Module Core is documented here: [Actuator Module Core v1.1](actuator_module_v1.1.md#brushless-actuator-module-core-v11)

<img src="images/actuator_module_open_1.jpg" width="500"><br>*Actuator Module Assembly - core components with upper leg shell structure*

## Core Components
<img src="images/actuator_module_core_1.png" width="500"><br>
We are using the same core components for all the robots described in this repository. <br> The only difference between the actuator modules is the surrounding shell structure.

<img src="images/transmission_1.png" width="500">

We are using a dual stage timing belt transmission with a 3:1 gear reduction on each stage.
The total gear reduction is 9:1.

## Core Component Overview
<img src="images/actuator_module_core_component_overview_1.jpg" width="500"><br>*Core components - the weight of all the components in the pictures is 95g*

## Off-the-shelf Components

### Brushless DC Motor

<img src="images/antigravity_4004_1.jpg" width="300"> <br>

  * T-Motor Antigravity 4004 300kV
  * 24 magnets / 12 pole pairs / 18 slots
  * 3 phase WYE Configuration / Star Configuration
  * Rotor diameter: 45mm
  * Weight: 53g
  * [Details Motor Preparation](details/details_motor_preparation.md)
  * [Details Motor Shaft Preparation](details/details_motor_shaft_preparation.md)
  * [T-Motor Product Webpage](http://store-en.tmotor.com/goods.php?id=438) (the motors are sold in sets of 2 pieces)
  * [Ordering information below](#bill-of-materials---brushless-actuator-module-core)

### Optical Encoder
<img src="images/broadcom_encoder_1.jpg" width="300"> <br>
  * Broadcom AEDT-9810-Z00
  * 5000 pulses per revolution per channel
  * 20000 counts per revolution at the micro controller
  * 5V two channel quadrature output with index pulse (ABZ)
  * Code wheel diameter: 26mm
  * Weight: 5g
  * [Details Encoder and Codewheel](details/details_encoder.md)
  * [Details Encoder Preparation](details/details_encoder_preparation.md)
  * [Details Motor Shaft and Codewheel Preparation](details/details_motor_shaft_preparation.md)
  * [Broadcom Webpage](https://www.broadcom.com/products/motion-control-encoders/incremental-encoders/transmissive-encoders/aedt-981x)  
  * [Ordering information below](#bill-of-materials---brushless-actuator-module-core)

### Timing Belts
<img src="images/timing_belts_1.jpg" width="300"> <br> *Timing Belts AT3 GEN III with 50 teeth and 67 teeth - weight: 4,5g*
  * Timing Belt: Conti Synchroflex AT3 GEN III - 3mm tooth pitch
  * Heavy duty polyurethane timing belt with steel cord reinforcements
  * First stage: 150mm timing belt - 50 teeth - width 4mm - 1,5g
  * Second stage: 201mm timing belt - 67 teeth - width 6mm - 3g
  * [Contitech Webpage](https://www.contitech.de/en-gl/Solutions/Power-Transmission/Industrial-Applications/Drive-Belts/Synchronous-Belts/Products/Product-range/CONTI-SYNCHROFLEX-GEN3)  
  * [Ordering information below](#bill-of-materials---brushless-actuator-module-core)

### Bearings
<img src="images/bearings_1.jpg" width="300"><br>*Stainless steel roller bearings - weight: 16g*
* Miniature EZO stainless steel roller bearings
* Ouput bearing: 32mm x 25mm x 4mm - 6.9g
* Transmission bearing: 8mm x 4mm x 2mm - 0.4g
* Belt tensioner bearing: 7mm x 3mm x 3mm - 0,4g
* [EZO Webpage](https://www.ezo-usa.com/)
* [Ordering information below](#bill-of-materials---brushless-actuator-module-core)

### Fasteners
<img src="images/fasteners_1.jpg" width="350"> <br> *Fasteners Actuator Module Core - weight: 2,9g*

* Fasteners Motor: M3 x 5 Flat Head Screw
* Fasteners Timing Belt Tensioner: M3 x 10 Flat Head Screw
* Washers Timing Belt Tensioner: M2,5 Washer
* Helical Insert Output Shaft: Helicoil M3 x 6
* Fasteners Encoder: M3 x 16 Philipps Flat Head Screw
* [Ordering information below](#bill-of-materials---brushless-actuator-module-core)

## Machined Parts
<img src="images/machined_parts_1.jpg" width="300"><br>*Motor shaft, motor pulley and center pulley - weight: 5,9g*

The 3 parts in the picture need to be machined from metal.

  * motor pulley 10 teeth - aluminum - 0.6g -> [PDF drawing](drawings/motor_pulley_at3_t10.PDF)
  * center pulley 10 teeth - aluminum - 2,1g -> [PDF drawing](drawings/center_pulley_at3_t10.PDF)
  * motor shaft - 4mm stainless steel rod - 3,2g -> [PDF drawing](drawings/motor_shaft.PDF)
  * [Details Machined Parts and Technical Drawings](details/details_machined_parts.md)

Alternatively you can order the ODRI Encoder Kit that includes all the machined parts.<br>
More information can be found in the [Actuator Module Core v1.1 Documentation](actuator_module_v1.1.md#brushless-actuator-module-core-v11).  

## 3D Printed Parts

<img src="images/3d_printed_parts_1.jpg" width="350"> <br> *3d printed parts - weight of the parts in the picture: 11,3g*

The tooth profile of the pulleys has to be pretty precise and concentric.  
We recommend to print all the parts listed below with a stereolithography or multijet printer.

More information: [Details 3D Printed Parts](details/details_3d_printed_parts.md#details-3d-printed-parts)

All the STL files for 3d printing the parts below can be found here: [STL Files](stl_files) <br>

<img src="images/printing_direction.png" width="400"> <br>

`The recommended printing direction for all the parts below is the positive z direction of the stl files.`

---
<img src="images/encoder_codewheel_pwb_mount.png" width="200"> <br>

* Encoder Codewheel PWB Mount - weight: 0,3g<br> [STL file](stl_files/encoder_codewheel_pwb_mount.STL) ([Option A](#bill-of-materials---brushless-actuator-module-core) with Broadcom AEDT-9810-Z00 encoder)  
* Encoder Codewheel Kit Mount - weight: 0,3g<br>[STL file](stl_files/encoder_codewheel_kit_mount.STL) ([Option B](#encoder-and-codewheel---alternative-b) with AEDM-5810-Z12 encoder kit)

  ---
  <img src="images/transmission_pulley_center.png" width="180"> <br>
* Transmission Pulley AT3 T30 Center - weight 4.2g -> [STL file ](stl_files/transmission_pulley_at3_t30_center.STL)
---
<img src="images/transmission_pulley_output.png" width="220"> <br>
* Transmission Pulley AT3 T30 Output - weight 6.7g -> [STL file ](stl_files/transmission_pulley_at3_t30_output.STL)
---
<img src="images/timing_belt_tensioner_roller.png" width="200"> <br>

* Transmission Belt Tensioner Rollers - weight 0,2g each
* There are STL files with different outer diameters available
* the default diameter that we are using is 10mm
* the different roller diameters allow you to adjust the timing belt tension if required
* 10.0mm Transmission Belt Tensioner Roller -> [STL file](stl_files/transmission_belt_tensioner_roller_10.0mm.STL)
* 10.5mm Transmission Belt Tensioner Roller -> [STL file](stl_files/transmission_belt_tensioner_roller_10.5mm.STL)
* 11.0mm Transmission Belt Tensioner Roller -> [STL file](stl_files/transmission_belt_tensioner_roller_11.0mm.STL)
* 11.5mm Transmission Belt Tensioner Roller -> [STL file](stl_files/transmission_belt_tensioner_roller_11.5mm.STL)
---

## Bill of Materials - Brushless Actuator Module Core
<img src="images/actuator_module_core_1.png" width="400">

| Description | Quantity | Ordering Information | Comments |  
| --- | :---: | --- | --- |   
|T-Motor Antigravity 4004 300kV|1|[T-Motor Store](http://store-en.tmotor.com/goods.php?id=438)<br>[Globeflight # 1974](https://www.globe-flight.de/T-Motor-GF-Antigravity-Set-4004-300KV-2-pcs)|2 motors per set|
|Encoder Broadcom AEDT-9810-Z00|1|[Mouser # 630-AEDT9810Z00](https://www.mouser.com/ProductDetail/Broadcom-Avago/AEDT-9810-Z00?qs=%2Fha2pyFadugH%252BV24sBozOzDoYJ6rlay1%2FjE%2FZBaGp8NtaorhU1uDSg%3D%3D)<br> [DigiKey # 516-3256-ND](https://www.digikey.com/products/en?keywords=516-3256-ND)|Encoder without codewheel|
|Codewheel for Encoder AEDT-9810-Z00|1|[PWB Encoders GmbH # 104768](https://www.pwb-encoders.com/en/encoder-wheels)|Send an email to info@pwb-encoders.com and ask for a quote. PWB ships worldwide. <br> Order number: 104768 / Codewheel with index / 625cpr 3K for AEDT98X / ID 7mm / OD 25,56mm|
|Timing Belt Conti Synchroflex AT3 GEN III<br> width: 4mm / length: 150mm / 50 teeth<br>Timing belt first stage|1|[Reiff # 60047626](https://www.reiff-tpshop.de/shop/de/antriebstechnik/synchroflex-zahnriemen-gen-iii-at3/gen-iii-at3-laenge-150-bis-1011-mm.html)<br> [Beltingonline](https://www.beltingonline.com/at3-gen-iii-synchroflex-timing-belts-4593)<br>|<br> Reiff: The belt with 4mm width is not listed on the Reiff webpage. <br> Send an email to e-services@reiff-gruppe.de and ask for a quote. <br> Reiff ships within Europe.|
|Timing Belt Conti Synchroflex AT3 GEN III<br> width: 6mm / length: 201mm / 67 teeth <br>Timing belt second stage|1|[Reiff # 60005258](https://www.reiff-tpshop.de/shop/de/antriebstechnik/synchroflex-zahnriemen-gen-iii-at3/gen-iii-at3-laenge-150-bis-1011-mm.html) <br> [Beltingonline](https://www.beltingonline.com/at3-gen-iii-synchroflex-timing-belts-4593)|Send an email to e-services@reiff-gruppe.de and ask for a quote.<br>Reiff ships within Europe.|
|Bearing Output Shaft<br>32mm x 25mm x 4mm<br>EZO bearing 61705 2RS VA  |2|[Emiliana Cuscinetti](https://www.emilianacuscinetti.com/en/miniature-bearings/)<br>[Doppiaemme](https://www.doppiaemme.it/en/prodotti/)<br>[EZO USA](https://catalog.ezo-usa.com/category/metric-series-bearings)<br>[SBN](https://www.sbn.de/en/)<br>[Online Bearing Store](https://www.onlinebearingstore.com/6705-2rs-6705-zz-ball-bearings.html)|Italy: [Emiliana Cuscinetti](https://www.emilianacuscinetti.com/en/miniature-bearings/) or [Doppiaemme](https://www.doppiaemme.it/en/prodotti/)<br> USA: [EZO USA](https://catalog.ezo-usa.com/category/metric-series-bearings)<br> All other countries: Send an email to info@sbn.de and ask for a quote - they ship worldwide. <br> SBN # C02748 <br>We use stainless steel bearings.<br>Alternative: Chrome steel bearings from the Online Bearing Store|
|Bearing Motor Shaft and Center Shaft  <br> 8mm x 4mm x 2mm<br>EZO bearing MR84 VA |3|[Emiliana Cuscinetti](https://www.emilianacuscinetti.com/en/miniature-bearings/)<br>[Doppiaemme](https://www.doppiaemme.it/en/prodotti/)<br>[EZO USA](https://catalog.ezo-usa.com/category/metric-series-bearings)<br>[SBN](https://www.sbn.de/en/)<br>[Online Bearing Store](https://www.onlinebearingstore.com/mr84-miniature-ball-bearing-4x8x2-open.html)|Italy: [Emiliana Cuscinetti](https://www.emilianacuscinetti.com/en/miniature-bearings/) or [Doppiaemme](https://www.doppiaemme.it/en/prodotti/)<br> USA: [EZO USA](https://catalog.ezo-usa.com/category/metric-series-bearings)<br> All other countries: Send an email to info@sbn.de and ask for a quote - they ship worldwide.  <br> SBN # N09724 <br>We use stainless steel bearings.<br>Alternative: Chrome steel bearings from the Online Bearing Store|
|Bearing Timing Belt Tensioner<br>7mm x 3mm x 3mm<br>EZO bearing 683 2Z VA<br><br> |2|[Emiliana Cuscinetti](https://www.emilianacuscinetti.com/en/miniature-bearings/)<br>[Doppiaemme](https://www.doppiaemme.it/en/prodotti/)<br>[EZO USA](https://catalog.ezo-usa.com/category/metric-series-bearings)<br>[SBN](https://www.sbn.de/en/)<br>[Online Bearing Store](https://www.onlinebearingstore.com/683-zz-miniature-ball-bearing-id-3-x-od-7x-w-3mm-shielded.html)|Italy: [Emiliana Cuscinetti](https://www.emilianacuscinetti.com/en/miniature-bearings/) or [Doppiaemme](https://www.doppiaemme.it/en/prodotti/)<br> USA: [EZO USA](https://catalog.ezo-usa.com/category/metric-series-bearings)<br> All other countries: Send an email to info@sbn.de and ask for a quote - they ship worldwide. <br>SBN # N05560 <br> We use stainless steel bearings.<br>Alternative: Chrome steel bearings from the Online Bearing Store|
|Encoder Codewheel PWB Mount|1|[STL file](stl_files/encoder_codewheel_pwb_mount.STL)|3d printed part - use SLA, Polyjet or Multijet printer|
|Transmission Pulley AT3 T30 Center|1|[STL file ](stl_files/transmission_pulley_at3_t30_center.STL)|3d printed part - use SLA, Polyjet or Multijet printer|
|Transmission Pulley AT3 T30 Output|1|[STL file ](stl_files/transmission_pulley_at3_t30_output.STL)|3d printed part - use SLA, Polyjet or Multijet printer|
|Timing Belt Tensioner Roller 10mm|2|[STL file](stl_files/transmission_belt_tensioner_roller_10.0mm.STL)<br>|3d printed part - use SLA, Polyjet or Multijet printer|
|Motor Shaft|1|[PDF drawing](drawings/motor_shaft.PDF)|Machined part|
|Motor Pulley|1|[PDF drawing](drawings/motor_pulley_at3_t10.PDF)|Machined part|
|Center Pulley|1| [PDF drawing](drawings/center_pulley_at3_t10.PDF)|Machined part|
|Fasteners Encoder <br> M3 x 16 Philipps Flat Head Screw|2|[Conrad # 839967](https://www.conrad.com/p/toolcraft-839967-countersunk-screws-m3-16-mm-phillips-din-965-plastic-polyamide-10-pcs-839967)|Polyamide plastic<br>10 pieces per set|
|Fasteners Motor<br>M3 x 5 Flat Head Screw |4|[Online Schrauben](https://online-schrauben.de/shop/Schrauben/Innensechskantschrauben/ISO-10642-DIN-7991-Senkschrauben-mit-Innensechskant-aehnl.-DIN-7991/Edelstahl-Rostfrei-A2/M-3-Gewinde-M-metrisches-Gewinde)|Stainless Steel<br>Online Schrauben ships within Europe.|
|Fasteners Timing Belt Tensioner<br>M3 x 10 Flat Head Screw|2|[Online Schrauben](https://online-schrauben.de/shop/Schrauben/Innensechskantschrauben/ISO-10642-DIN-7991-Senkschrauben-mit-Innensechskant-aehnl.-DIN-7991/Edelstahl-Rostfrei-A2/M-3-Gewinde-M-metrisches-Gewinde)|Stainless Steel<br>Online Schrauben ships within Europe.|
|Washers Timing Belt Tensioner<br>M2,5 Washer|2|[Online Schrauben](https://online-schrauben.de/shop/Scheiben-Federringe/ISO-7092-Unterlegscheiben-fuer-Zylinderkopfschrauben-aehnl.-DIN-433/Edelstahl-Rostfrei-A2-200-HV)|Stainless Steel<br>Online Schrauben ships within Europe.|
|Helical Insert Output Shaft<br> Helicoil M3 x 6|2|[RS # 470-834](https://uk.rs-online.com/web/p/thread-repair-inserts/0470834/)<br>[Hoffmann # 082814 M3](https://www.hoffmann-group.com/GB/en/houk/Power-tools-and-workshop-supplies/Soldering-tools-cleaning-devices-thread-repair/Thread-insert-set%2C-10-or-20-pieces-2×D/p/082814-M3?tId=617)<br>[McMaster # 91732A773](https://www.mcmaster.com/91732A773/)|[M3 Helicoil tools](details/details_tools.md#helicoil-tools) required|

### Encoder and Codewheel - Alternative B
<img src="images/encoder_alternative_b.jpg" width="450"> <br> *Left side: Encoder and codewheel ordered seperately as described above<br>Right side: Alternative B - Encoder Kit - described below*

| Description | Quantity | Ordering Information | Comments |  
| --- | :---: | --- | --- |
|Broadcom Encoder Kit AEDM-5810-Z12|1|[Mouser # 630-AEDM5810Z12](https://www.mouser.de/ProductDetail/Broadcom-Avago/AEDM-5810Z12?qs=%2Fha2pyFadujtDdLrUGHWsKyfLkpJxYH2H0SfB7LySxyN5iN50m1syw%3D%3D)<br>[DigiKey # 516-3253-ND](https://www.digikey.com/product-detail/en/broadcom-limited/AEDM-5810-Z12/516-3253-ND/5357134)|Kit consisting of encoder and codewheel<br>[Instructions Encoder Kit Disassembly](details/details_encoder_kit_disassembly.md#details-encoder-kit-disassembly)|
|Codewheel Mount Encoder Kit|1|[STL file](stl_files/encoder_codewheel_kit_mount.STL)|3d printed part- use SLA, Polyjet or Multijet printer|

### Encoder and Codewheel - Alternative C

<img src="images/pwb_odri_kit_components_1.jpg" width="300"><br>*ODRI Encoder Kit Components*<br>

Alternatively you can order the ODRI Encoder Kit that includes all the machined parts, the code wheel and the encoder.<br>
This option is documented here: [Actuator Module Core v1.1 Documentation](actuator_module_v1.1.md#brushless-actuator-module-core-v11).  

### Timing Belt Tensioner - Alternative B

<img src="images/timing_belt_tensioner_1.jpg" width="400"> <br> *Left side: 7mm bearings and 3d printed rollers as described above<br>Right side: Alternative B - 10mm bearings - described below*

| Description | Quantity | Ordering Information | Comments |  
| --- | :---: | --- | --- |
|Bearing Timing Belt Tensioner<br>SKF # 623-2Z<br> 10mm x 3mm x 4mm|2|<br>[RS Germany # 285-0807](https://de.rs-online.com/web/p/kugellager/2850807/)<br>[Quality Bearings Online](https://www.qualitybearingsonline.com/623-2z-skf-miniature-deep-groove-3x10x4mm/?setCurrencyId=2)|Alternative for 7mm x 3mm x 3mm bearing and timing belt tensioner roller above.|
|Fasteners Timing Belt Tensioner<br>M3 x 10 Flat Head  Screw|2|[Online Schrauben](https://online-schrauben.de/shop/Schrauben/Innensechskantschrauben/ISO-10642-DIN-7991-Senkschrauben-mit-Innensechskant-aehnl.-DIN-7991/Edelstahl-Rostfrei-A2/M-3-Gewinde-M-metrisches-Gewinde)|Stainless Steel<br>Online Schrauben shipps within Europe.|
|Washers Timing Belt Tensioner<br>M3 Washer|2|[Online Schrauben](https://online-schrauben.de/shop/Scheiben-Federringe/ISO-7092-Unterlegscheiben-fuer-Zylinderkopfschrauben-aehnl.-DIN-433/Edelstahl-Rostfrei-A2-200-HV)<br>[McMaster # 90965A130](https://www.mcmaster.com/90965A130/)|Stainless Steel<br>Online Schrauben shipps within Europe.|


## Details Wires and Connectors

<img src="images/connectors_actuator_module_1.jpg" width="400"><br>*Connectors Actuator Module*

### Wires and Connectors
| Description | Quantity | Ordering Information | Comments |  
| --- | :---: | --- | --- |
|Motor Phase Connectors 2mm gold<br>Reely RE-1373188|3|[Conrad # 1373188](https://www.conrad.com/p/reely-1373188-battery-plug-2-mm-gold-plated-2-pair-1373188)<br>[HobbyKing](https://hobbyking.com/en_us/2mm-gold-connectors-10-pairs-20pc.html?___store=en_us)|Conrad: 2 pairs per set<br>HobbyKing 10 pairs per set|
|Motor Phase Wires<br>LiY 0.50 mm² black|3|[Kabeltronik # 1601050](https://www.kabeltronik.de/en/electronics-industry/hook-up-wires-stranded/art/hook-up-wire-stranded-extremely-flexible-lify-3/31)<br>[Conrad # 609337](https://www.conrad.com/p/conrad-components-609337-strand-liy-1-x-050-mm-black-25-m-609337)<br>[McMaster # 8054T14](https://www.mcmaster.com/8054t14-8054T184/)|Kabeltronik ships worldwide.<br>100m on spool. <br>The Kabeltronik wires are the most flexible.|
|Encoder Connector<br>Hirose DF13 Socket 5 Pin|1|[RS # 143-015](https://americas.rsdelivers.com/product/hirose/df13-5s-125c/hirose-df13-male-connector-housing-125mm-pitch-5/0143015)<br>[DigiKey # H2182-ND](https://www.digikey.com/products/en?keywords=H2182-ND)|The Hirose DF13 Crimp Tool is required for crimping the wires.<br> [RS # 503-8331](https://americas.rsdelivers.com/product/hirose/df13-tb2630hc/hirose-plier-crimping-tool-for-df13-crimp/5038331)|
|Encoder Connector Crimp Terminals|5|[RS 503-8325](https://americas.rsdelivers.com/product/hirose/df13-2630scf/hirose-df13-female-crimp-terminal-contact-26awg/5038325) <br> [Digi-Key H9992CT-ND](https://www.digikey.com/products/en?keywords=H9992CT-ND)|The Hirose DF13 Crimp Tool is required for crimping the wires.<br> [RS # 503-8331](https://americas.rsdelivers.com/product/hirose/df13-tb2630hc/hirose-plier-crimping-tool-for-df13-crimp/5038331)|
|Encoder Wires<br>LifY 0.14 mm²|5|[Kabeltronik # 1601014](https://www.kabeltronik.de/en/kabeltronik/search/art/hook-up-wire-stranded-extremely-flexible-lify-1/)|Kabeltronik ships worldwide.<br>100m on spool - different colors available.<br> For the encoders we use red, yellow, black, white and green wires.|

### Wiring Convention Encoder
<img src="images/encoder_wiring_micro_driver.png" width="600"><br>*Wiring Convention Encoder with Kabeltronik Wires*

More wiring information here: [Details Wiring](../../electronics/details/details_wiring.md#details-wiring)

## PDF Drawing
<a href="_actuator_module.PDF"><img src="images/actuator_module_pdf.png" width="400"></a><br>*Actuator Module Overview - Click on picture to view PDF drawing.*

## Step-by-Step Instructions

| Motor Preparation  | Motor Shaft Preparation | Encoder Preparation |Center Pulley Preparation|
| --- | --- | --- | --- |
| <a href="details/details_motor_preparation.md#details-motor-preparation"><img src="images/motor_mod_1_1.jpg" width="200"></a>| <a href="details/details_motor_shaft_preparation.md#details-motor-shaft-preparation"><img src="images/motor_shaft_preparation_18.jpg" width="200"></a>  | <a href="details/details_encoder_preparation.md#details-encoder-preparation"><img src="images/encoder_1.jpg" width="200"></a>  |<a href="details/details_center_pulley_preparation.md#details-center-pulley-preparation"><img src="images/pulley_preparation_1_1.jpg" width="200"></a> |

| Output Pulley Preparation | Shell Preparation | Actuator Module Assembly |Actuator Module Testing|
| --- | --- | --- | --- |
| <a href="details/details_output_pulley_preparation.md#details-output-pulley-preparation"><img src="images/output_pulley_preparation_9.jpg" width="200"></a>| <a href="details/details_shell_preparation.md#details-shell-preparation"><img src="images/shells_1.jpg" width="200"></a>  | <a href="details/details_actuator_module_assembly.md#details-actuator-module-assembly"><img src="images/actuator_module_open_1.jpg" width="200"></a>  |<a href="details/details_actuator_module_testing.md#details-actuator-module-testing"><img src="images/actuator_module_1.png" width="200"></a> |

## More Details
| Details 3d Printed Parts | Details Machined Parts | Mechanical Tools and Consumables |Electronic Components and Tools|
| --- | --- | --- | --- |
|<a href="details/details_3d_printed_parts.md#details-3d-printed-parts"><img src="images/3d_printed_parts_2.jpg" width="200"></a>|<a href="details/details_machined_parts.md#details-machined-parts"><img src="images/machined_parts_1.jpg" width="200"></a>|<a href="details/details_tools.md#details-mechanical-tools-and-consumables"><img src="images/tools_1.jpg" width="200"></a>|<a href="../../electronics/details/details_components.md#details-electronic-components-and-tools"><img src="images/components_tools_1.jpg" width="200"></a>|

## More Information
[Open Dynamic Robot Initiative - Webpage](https://open-dynamic-robot-initiative.github.io)  
[Open Dynamic Robot Initiative - YouTube Channel](https://www.youtube.com/channel/UCx32JW2oIrax47Gjq8zNI-w)   
[Open Dynamic Robot Initiative - Forum](https://odri.discourse.group/categories)  
[Open Dynamic Robot Initiative - Paper](https://arxiv.org/pdf/1910.00093.pdf)  
[Hardware Overview](../../README.md#open-robot-actuator-hardware)  
[Software Overview](https://github.com/open-dynamic-robot-initiative/open-dynamic-robot-initiative.github.io/wiki)  
[Back to Top of Page](#brushless-actuator-module-core-v1)

## Authors
Felix Grimminger

## License
BSD 3-Clause License

## Copyright
Copyright (c) 2019-2021, Max Planck Gesellschaft and New York University