Design and Implementation of a 3D-Printed Robotic Actuator

A robotic actuator converts energy into physical motion, enabling a robot to move and interact with its environment. In this article, Maheshwaran and Vairamani describe how they designed and assembled a 3D-printed actuator that combines advanced motion control with real-time monitoring.

- Maheshwaran Sadasivam and Vairamani Kanagavel

This article presents the design and implementation of a cost-effective, 3D-printed robotic actuator, specifically developed to provide students with an accessible and practical platform for learning and experimentation in robotics. The total expenses to make this 3D printed robotic actuator was $60, while the commercial robotic actuator was approximately $500. The actuator enables precise movement control and real-time monitoring for building robotic systems, such as robotic arms and quadruped robots (robot dogs).

The actuator integrates a stepper motor with a 3D-printed planetary gearbox, providing efficient motion transmission. The overall system is controlled by a microcontroller, which interfaces with a magnetic encoder to offer feedback from the motor for closed-loop control, ensuring precise movement. Additionally, an inertial measurement unit (IMU) sensor measures the actuator's acceleration and orientation, allowing dynamic adjustments during operation. A current and voltage sensor monitors the actuator's energy consumption, optimizing performance and ensuring efficient power usage. Communication is facilitated via the controller area network (CAN) bus protocol, enabling reliable data exchange with external devices.

FIGURE 1 The 3D-printed robotic actuator enables precise movement control and real-time monitoring for building robotic systems.

This versatile actuator's low-cost, scalable design makes it ideal for a range of robotic applications. Experimental results demonstrate its effectiveness in terms of positional accuracy, energy efficiency, and adaptability, highlighting its potential for use in both research and industrial robotics.

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