Gears are old-school. Today I'll be exploring the idea of a rope-driven reducer called a Capstan Drive.

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Read about this project on my website: https://www.aaedmusa.com/projects/cap...
Download the test stand CAD files and BOM: https://github.com/aaedmusa/Capstan-D...
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Check out the Stanley quadruped: https://hackaday.io/project/176726-st...