BASE

Rotating base driven by a CM-AKE60 motor with an integrated ODrive encoder, providing closed-loop position control through a 6.75:1 compound reduction (belt first stage, planetary second stage). Rotation occurs around a fixed sun gear with a driven planet carrier, using a custom water-jetted 5052 aluminum sun gear and ABS thermoplastic structural components.

Structure uses water-jetted 0.25" 5052 aluminum plates and a COTS McMaster-Carr turntable bearing ($35) repurposed as a preloaded precision base bearing. Integrates a custom E-Chain cable management system, originally developed by me and later transferred to another team member for completion, enabling continuous 360° rotation without wire tangling. Interfaces directly with the shoulder motor module and arm structure.