Are changes needed to be made to BOM for ankle if using AK80 motor instead?

Question

I have a few questions regarding the Ankle BOM.

On the BOM, there are two steel cable (3/32" and 1/16"), do I need to buy both of them? I have already bought the 1/16".

I know the BOM is for AK60, but my lab is using the AK80, will the McMaster parts work for AK80 motor or will I have to make adjustments to the order?

We have already purchased all the parts for the Bowden Cable assembly for AK80 motor, will those parts work on this ankle end-effector?

Do we need to do any modifications on the CAD model to use AK80 motor?

Zachary Lerner · Answer

Thanks for your great question, Delta! It depends on the amount of torque your device will be providing. Because you're using the larger motor capable of higher torque output, we recommend using a larger cable. Minimal changes need to be made to the ankle assembly design. In short, you'll use a larger cable, larger Bowden tube/sheath, and drill out the barrel adjusters. This info can be found here: https://wiki.theopenexo.org/app/page/1j5-YcyzLKODyyr-0k_CvghfOUwA_U81Vkho95b0_z-0?p=14AIGjap02Wv8jPJxyezvfYJYFVIJIoO1

That being said, if you limit the motor torque to ~20 Nm the smaller cable should be fine.