A Capstan Drive is a cheap rope-driven speed reducer that has low backlash, low inertia, low noise, and high torque transparency. When it comes to building robots a Capstan Drive can be quite beneficial. This test stand has the following features:
-3D printed in PLA
-Weighs 852g
-120° rotation
-8.55:1 reduction (quasi-direct drive)
-Helical pattern on both drums for guided unraveling
-Lead screw to tension the rope
-ODrive S1 FOC Controller
-Eagle Power 90KV BLDC Motor
