Thanks! That was my idea, with the prices of commercial actuators being expensive, I wanted to see if it was possible to do everything from scratch.
At the moment I have not uploaded any file, I would like to have it closed and I am currently going through revision 12 of the actuator :-)
Full leg tests show me some improvements. Today it is fully functional, but I am making substantial changes to get more torque and have more mechanical resistance.
I am looking at how to implement the Halbach array, here is a first prototype:
A LOT of torque is achieved, so much so that the current rotor flexes against the stator.
At the moment I am printing it with PLA and controlling the temperatures (it has an integrated thermistor). I have printed with Innovatefil’s “polyamide HT” material that seems to withstand much more temperature (around 20/30ºC more than PLA), but for many tests I do, I don’t get a completely clean print, I have to keep trying.