Open Dynamic Robot Actuator

Based on published sources · Not tested by us · Sources checked 2026-10-01

Overview

Brushless belt-reduced research actuator core with a v1.1 prepared encoder-kit route, precision printing requirements and separately integrated motor control. [S009] [S010] [S007]

The ODRI brushless actuator uses an outrunner motor, optical encoder and two timing-belt stages with a combined 9:1 reduction. This profile selects the v1.1 core documented in the preserved hardware repository. Its surrounding shell depends on the robot using it, so a core parts list is not a complete robot or ready-to-command actuator package. [S009]

Official website · Source code

Specifications

Detail	Description
Type	Single research actuator core; surrounding shell depends on robot integration Reported by source [S009] · Checked 2026-10-01
Intended users	Builders able to fabricate precision mechanical parts and integrate motor control Editorial assessment [S001] · Checked 2026-10-01
Assembly	Not known
Calibration	Not known
Operating system	Not known
Computer needed	Not known

3D preview

Preview not available yet. A model has not yet been prepared and approved for display on this page. This does not mean the project lacks CAD files; see Source files and licenses for the reviewed source availability.

Assembly and use

The v1.1 change is a prepared encoder assembly

The guide describes a PWB ODRI encoder kit containing the prepared motor-shaft assembly, aluminum center pulley and Broadcom AEDT-9810-Z00 encoder head. Upstream states that the prepared shaft and the self-made earlier version are functionally interchangeable. The v1.1 route reduces machining and shaft preparation; it does not remove the need for a motor, belts, bearings, printed parts, shells or control electronics. Current availability of that historical supplier kit was not verified. [S009]

The selected BOM names a T-Motor Antigravity 4004 300kV, a first-stage belt 150 mm long and 4 mm wide, and a second-stage belt 201 mm long and 6 mm wide. Alternative tensioner bearings and roller diameters are described separately. A builder must keep the selected tensioner arrangement consistent rather than combining every listed alternative into one assembly. [S009]

Printing and fit are functional requirements

The documentation separates structural FDM/SLS parts from precision SLA, polyjet or multijet pulleys. Bearing-seat dimensions and the specified positive-Z print orientation affect fit; the guide warns that oversized bearing seats can make a part unusable. These requirements are more specific than simply having printable STL files. No parts were printed or dimensionally inspected in this review. [S009] [S010]

The guide reports a 160 mm segment, approximately 150 g assembled-module weight and 2.5 Nm output at 12 A. Those figures belong to its documented module example, not every surrounding shell or duty cycle. In particular, the supplied description does not establish a continuous thermal torque rating, and no catalog test reproduced the figures. [S009]

Select and validate the control route separately

The repository documents TI evaluation-board electronics using the F28069M LaunchPad and DRV8305 booster boards, with robots operated at 24 V. It describes a real-time PC/CAN control route and separate firmware flashing. The electronics are additional to the mechanical core; this profile does not assign their board limits to the motor or claim a verified complete electrical configuration. [S007] [S008] [S009]

The flashing guide distinguishes RAM/debug execution from a flash build and corresponding boot settings. It leaves toolchain installation and source checkout unfinished, and notes that ending the debugger does not stop the running board program. The linked actuator-testing page has no substantive test procedure. Complete firmware selection, commissioning and performance validation therefore remain work beyond the preserved mechanical design. [S008] [S011]

The hardware repository is BSD-3-Clause licensed. External purchased components, control firmware and host software need their own source and license assessment. The complete delivered budget remains unknown, including precision fabrication, tooling, electronics and sourcing. No machining, assembly, flashing, torque measurement or hardware motion was performed here. [S003] [S007] [S009] [S010]

Cost

No current, complete configuration-specific build cost has been established for this profile.

Source files and licenses

Available project sources support research coverage; complete build and commercial qualification remain separate.

Layer	Availability / license
mechanical design	available · BSD-3-Clause Actuator core design files and linked robot-specific shell structures. No geometry or physical build verification claimed. [S003] [S005] [S006] [S009] [S012]
electronics	not found · License not fully assessed Selected route documents purchased TI evaluation boards and control/toolchain requirements. Complete matched electronics fabrication, firmware and host-software payloads were not established in this hardware-repository review; not a claim of closed source. [S006] [S007] [S008]
firmware	not found · License not fully assessed Selected route documents purchased TI evaluation boards and control/toolchain requirements. Complete matched electronics fabrication, firmware and host-software payloads were not established in this hardware-repository review; not a claim of closed source. [S006] [S007] [S008]
software	not found · License not fully assessed Selected route documents purchased TI evaluation boards and control/toolchain requirements. Complete matched electronics fabrication, firmware and host-software payloads were not established in this hardware-repository review; not a claim of closed source. [S006] [S007] [S008]
documentation	available · BSD-3-Clause Selected repository documentation; external component documentation retains separate terms. [S003] [S005] [S007]

Selected torque-controlled hardware configuration does not require a particular learned policy or dataset.

References

Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.

S001 · open-dynamic-robot-initiative / project contributors
Upstream project overview
Accessed 2026-10-01 · README.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S002 · open-dynamic-robot-initiative / project contributors
Repository revision and release metadata
Accessed 2026-10-01 · 66af1522b4fba0ec4a1d7790e66f5e4652208d30
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S003 · open-dynamic-robot-initiative / project contributors
Repository license
Accessed 2026-10-01 · LICENSE
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S004 · open-dynamic-robot-initiative / project contributors
Pinned repository artifact inventory
Accessed 2026-10-01 · 66af1522b4fba0ec4a1d7790e66f5e4652208d30 archive file inventory
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S005 · open-dynamic-robot-initiative / project contributors
mechanics/tri_finger_edu_v1/README.md
Accessed 2026-10-01 · 66af1522b4fba0ec4a1d7790e66f5e4652208d30 / mechanics/tri_finger_edu_v1/README.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S006 · open-dynamic-robot-initiative / project contributors
mechanics/finger_edu_v1/README.md
Accessed 2026-10-01 · 66af1522b4fba0ec4a1d7790e66f5e4652208d30 / mechanics/finger_edu_v1/README.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S007 · open-dynamic-robot-initiative / project contributors
electronics/ti_electronics/README.md
Accessed 2026-10-01 · 66af1522b4fba0ec4a1d7790e66f5e4652208d30 / electronics/ti_electronics/README.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S008 · open-dynamic-robot-initiative / project contributors
electronics/details/details_flashing.md
Accessed 2026-10-01 · 66af1522b4fba0ec4a1d7790e66f5e4652208d30 / electronics/details/details_flashing.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S009 · open-dynamic-robot-initiative / project contributors
mechanics/actuator_module_v1/actuator_module_v1.1.md
Accessed 2026-10-01 · 66af1522b4fba0ec4a1d7790e66f5e4652208d30 / mechanics/actuator_module_v1/actuator_module_v1.1.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S010 · open-dynamic-robot-initiative / project contributors
mechanics/actuator_module_v1/details/details_3d_printed_parts.md
Accessed 2026-10-01 · 66af1522b4fba0ec4a1d7790e66f5e4652208d30 / mechanics/actuator_module_v1/details/details_3d_printed_parts.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S011 · open-dynamic-robot-initiative / project contributors
mechanics/actuator_module_v1/details/details_actuator_module_testing.md
Accessed 2026-10-01 · 66af1522b4fba0ec4a1d7790e66f5e4652208d30 / mechanics/actuator_module_v1/details/details_actuator_module_testing.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S012 · open-dynamic-robot-initiative / project contributors
Complete archive filenames
Accessed 2026-10-01 · Preserved archive inventory
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.

Research and review details

Source research only; no installation, physical build or performance test performed. No affiliate links added.

Profile edited 2026-10-01 · Sources checked 2026-10-01 · Next review target 2026-10-31

Revision: 66af1522b4fba0ec4a1d7790e66f5e4652208d30 (commit snapshot; no published stable release found). Combined hardware and software repository activity recorded 2022-09-06 [S002]

Correction guidance · Discussion is not enabled · Profile format 0.6.0-draft.1

Change history