Hardware · Prototype

Desktop test rig

Case study preview

Frame, actuators, and DAQ layout for quick iteration on joint limits and cabling.

Goals

The bench needed to exercise a small joint module without waiting on full integration: enough structure to mount motors and encoders, room for cable routing, and clear sight lines for debugging.

Lab bench and tooling — Early bench layout before the final harness pass.

Iteration speed mattered more than polish — the frame had to be easy to reconfigure when we changed actuator choice mid-project.

What we built

A compact aluminum layout with modular brackets, tie-downs for DAQ, and labeled harness paths so nothing fought the workspace during long bring-up sessions.

Short clip from bring-up—audio optional.

Cable service loops and strain relief were mocked early; that cut rework when we swapped from one driver family to another.

Outcomes

We could run limit sweeps and friction checks in an afternoon instead of losing days to ad-hoc stands. The same rig informed motor sizing for the next revision.