https://your-docusaurus-site.example.com/cora-docusaurus/blog CORA Blog 2026-05-13T00:00:00.000Z https://github.com/jpmonette/feed CORA Blog https://your-docusaurus-site.example.com/cora-docusaurus/assets/logos/Light.png <![CDATA[Fully Working Joint]]> https://your-docusaurus-site.example.com/cora-docusaurus/blog/first-working-joint 2026-05-13T00:00:00.000Z First Joint

This week we fully assembled our first R120 Joint. The new Wolfrom drive proved to be the better choice as opposed to the cycloidal drive. This drive runs way smoother. The flaw seems to have been in the design of the differential cycloidal drive.

There are countless examples of that drive running smoothly, but the reduction ratios in those cases were also significantly lower (10:1 > i > 50:1). Our speculation is that the vibration only appears for larger ratios like our drive, which had i = 189:1.

]]> Matthew de Lannoy https://www.linkedin.com/in/matthew-de-lannoy-638847416/ <![CDATA[A New Hope]]> https://your-docusaurus-site.example.com/cora-docusaurus/blog/not-working-cycloidal 2026-04-20T00:00:00.000Z First Joint

The Cycloidal drive has been fully manufactured and assembled. It contains brass bushings as bearings and stainless steel lasercut cycloids. Testing proved this drive is not up to the task. The vibrations make it completely unsuited for this application.

We decided to pivot to the more conventional wolfrom drive instead of the "differential cycloidal drive". Since we have more experience using these collectively, it is a suitable fallback.

]]> Matthew de Lannoy https://www.linkedin.com/in/matthew-de-lannoy-638847416/