I’m a senior computer engineering student, and I’ve decided to delve into the world of robotics design. While the electrical control and programming aspects are well within my wheelhouse, my mechanical engineering knowledge is limited to the basics.
Specifically, I am attempting to fulfill the ultimate nerd dream - an iron man suit, that is to say, a powered exoskeleton. I understand that this will be a long term, time consuming, expensive project. I’m starting small - the elbow joint, with sheaths around the forearm and upper arm.
Currently I’m using a 5202 Series Yellow Jacket Planetary Gear Motor to power a linear actuator connected to my prototype arm frame, which works-ish. I would like very much to switch to direct motor drive, but the yellow jacket is woefully inadequate for this.
Ideally I would like something that can rotate around 60 RPM and has a form factor that will fit around an elbow without being absolutely insane (I.E., either long and thin, for use with bevel gearing, or wide and flat, for directly attaching to the joint) and able to output as many Nm of torque as possible - 30 would be pretty solid, acting on my moment arm of about 30cm, but the more the better.
Any assistance you guys could provide would be greatly appreciated.