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Leg mechanism for a robot dog by Ultra Robotics. A center distance design tool from SDP-SI i used to find the correct distances between the belts. For torque testing, the motor is hold still by hand and the belt starts slipping at 3.75 Nm of force. This shows that by correctly tensioning the belts and choosing the right ratio between the pulleys it can result in a big difference. Video/image credits: Ultra Robotics We strive to get permission for each piece of content we share, and give credits
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