CARA – High precision robot dog using rope
Finding the Exact 8:1 Gear Ratio The starting point of this project was figuring out how to achieve an exact 8:1 gear ratio with the capstan drives. In my capstan drive video, I designed all the drives to have an 8:1 gear ratio—but when measured, none of them actually did. The commenters on that video pretty accurately diagnosed my mistake. I had made the outer diameter of the big drum 8 times larger than the outer diameter of the small drum, but this doesn't account for the diameter of the rop