Cycloidal Gearbox

After the 2022 competition it was clear that the rover's arm needed to be improved. Knowing this, the team decided to start work on a gearbox for use with future versions of the arm. The team decided to use a cycloidal drive due to the low to zero backlash. After this I began to work on the initial prototype.

Starting in 2025 the project has become a larger focus of UGRT as a whole and this project in now a collaboration between myself and 2 other members of the team. While we still plan on keeping the overall system the same, we are now integrating 2 of these gearboxes as a part of the rovers arm, specifically J0 and J1, functioning as a differential.