Printable appendage with two joints and integrated motors

[Kris Reed] developed this robotic appendage as a follow-up to his original prototype. He printed it using Alumide which is a printable material with aluminum dust mixed into it. [Kris'] design utilizes three gear types; large gear, small gear, and worm gear. The motors are mounted on the middle portion of the assembly and offer an elbow and shoulder type of setup that both rotate along the same plane. We’ve got video of the testing after the break. He makes note that the movement is a bit jerky but can be cleaned up with better motor control using PWM.

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