Actuator design!

So its been a while, I’ve spend a fair bit of time attempting to understand ROS2 and Isaacsim and I’m at a point now where I’m pretty happy with the basics.
I moved on to working on the actuator design, which is thankfully not too complex as the stepper motors do most of the heavy lifting already - the gearbox itself is only 5:1!

Some difficult things I didn’t expect to encounter:

-Gearboxes are harder to design than I thought! I’d always just bought them online, but I was surprised in the amount of options I had. Eventually, I settled on a planetary gearbox with herringbone helical gears.

-I had to learn a few new terms for gear information and what they did which was quite foreign initially

-Worst of all I discovered the hard way that herringbone gears do not interlock the same nice way that spur gears did in my initial design, so I included a way for the actuator to be halved and reattached so the gears could be re-added.

I have included some final renders, as well as a video comparison of the spur gears vs helical herringbone ones :)

THANK YOU FOR READING!!!

p.s. please please feel free to give feedback, a lot of this is very new stuff to me design wise so I really don’t know what I’m doing a lot of the time, esp. knowing if the parts will hold under load