actuator/robot joint elbow

Hacking a Robot Elbow Actuator

Step 1: Initial Testing

• Powered with XT30, and connect with CAN.
• Apply 48Vvoltage using a bench power supply to test basic motor functionality.
• There is a movement issue with one actuator, it was stoped when rotated
• There is noise depends on each actuator, about 1 out of 5
• Heat is fine.

Step 2: Load Testing

• Attach test weights (e.g., 0.5 kg) to the actuator joint.
• Measure response under load at different voltages (starting from 3.3V).
• Record data such as joint speed, holding torque, and temperature rise over time.

Step 3: Disassembly

• Remove outer casing using screwdriver.
• Key internal components: pcb, pcb holder, planetary reducer, encoder, drive.

Step 4: Manual Sensor Testing

• Rotate the joint manually.
• Observe sensor output with multimeter to verify responsiveness.
• Note the sensor range.