A Capstan Drive is a cheap rope-driven speed reducer that has low backlash, low inertia, low noise, and high torque transparency. When it comes to building robots a Capstan Drive can be quite beneficial. This test stand has the following features:
-3D printed in PLA
-Weighs 852g
-120° rotation
-8.55:1 reduction (quasi-direct drive)
-Helical pattern on both drums for guided unraveling
-Lead screw to tension the rope
-ODrive S1 FOC Controller
-Eagle Power 90KV BLDC Motor
| Component | Price | Units Sold | Units Needed | Cost of Needed Units |
|---|---|---|---|---|
| ODrive S1 (w/Screw Terminals) | $149.00 | 1 | 1 | $149.00 |
| ⌀8 x 2.5mm Encoder Magnet | $1.75 | 1 | 1 | $1.75 |
| Eaglepower 8308 Brushless Motor 90KV | $61.00 | 1 | 1 | $61.00 |
| Dyneema DM20 2mm Rope | $26.49 | 100 ft | 1 ft | $0.26 |
| 40x50x6mm Bearings | $8.59 | 1 | 2 | $17.18 |
| 3x10x4mm Bearings | $13.79 | 20 | 4 | $2.76 |
| 15x28x7mm Bearing | $9.89 | 8 | 1 | $1.24 |
| M3 x 6mm Inserts | $8.59 | 50 | 7 | $1.20 |
| M3 x 5mm Hex Standoffs | $7.99 | 25 | 4 | $1.28 |
| M3 x 10mm Hex Standoffs | $14.93 | 100 | 2 | $0.30 |
| M3 Locknuts | $6.99 | 100 | 2 | $0.14 |
| M3 x 6mm Screws | $7.89 | 100 | 1 | $0.08 |
| M3 x 10mm Countersunk Screws | $6.20 | 100 | 4 | $0.25 |
| M3 x 10mm Screws | $7.69 | 100 | 7 | $0.54 |
| M3 x 45mm Screws | $8.42 | 50 | 4 | $0.67 |
| M3 x 55mm Screws | $9.36 | 50 | 2 | $0.37 |
| M4 Locknuts | $5.59 | 50 | 6 | $0.67 |
| M4 x 14mm Screws | $8.89 | 75 | 4 | $0.47 |
| M4 x 25mm Screws | $8.89 | 50 | 2 | $0.36 |
| M4 x 30mm Screws | $8.89 | 25 | 2 | $0.71 |
| M4 x 70mm Screws | $8.36 | 25 | 4 | $1.34 |