Custom Brushless Robotic Actuator Library

Core repository for gearbox and actuator component development. This project is the primary source of mechanical assets, electronics placeholders, and ROS2 control integration for a modular brushless actuator platform.

Purpose

This repo is organized as a reusable component library for:

• Planetary gearbox parts and integrated actuator CAD.
• Actuator subsystem bring-up and ROS2 control integration.
• Future electronics hardware and firmware associated with this actuator family.

Repository Structure

custom-brushless-robotic-actuator/
├── docs/
│   ├── overview.md
│   └── repository-map.md
├── mechanical/
│   ├── README.md
│   └── cad/
│       ├── actuator/
│       └── planetary-gearbox/
├── electronics/
│   ├── README.md
│   ├── hardware/
│   └── firmware/
└── software/
    ├── README.md
    └── ros2/
        └── odrive-stack/
            └── ws_odrive/

Current Component Coverage

Mechanical

• mechanical/cad/planetary-gearbox/: STL files for planetary transmission components.
• mechanical/cad/actuator/: actuator assembly files in STEP/STL.

Software

• software/ros2/odrive-stack/ws_odrive/: ROS2 workspace for ODrive-oriented control stack.

Electronics

• electronics/hardware/: reserved for schematics, PCB, BOM, and wiring references.
• electronics/firmware/: reserved for embedded actuator control firmware.

Typical Workflow

1. Select gearbox/actuator CAD from mechanical/cad/.
2. Manufacture or print components and build prototype hardware.
3. Integrate control stack from software/ros2/odrive-stack/ws_odrive/.
4. Add board/firmware artifacts under electronics/ as designs mature.

Related Repositories

This repo is the central actuator library. Supporting repositories in this workspace provide encoder bring-up, PID tuning, and application-level demonstrations (arm, gimbal, IMU).

Status

Active development. Structure is stable and intended for long-term expansion as a reusable actuator component library.