Modular Robot Under-Actuated Modules (ZaMoBot)

The modular robot is suitable for learning or teaching different configurations of robot manipulators. The complete modular robot Kit is composed of three main modules: Rotational module, Linear Module, and under-actuated adapters.
The under-actuated adapter modules work along with the rotational module and can create millions of configurations by variating the geometry of the module itself, combining modules you can obtain manipulators from two DoF up to six DOF.

- The primary adapter (adapter for the rotational module) provides a reliable connection with the servo and housing for an encoder for closed loop control.
- The free axis assembly is designed to use inexpensive standard skate roller ball bearings. Ther is no power to this element and the challenge is to balance the element using the powered axis. This part also includes housing for encoders to provide position and velocity to the controller.
-The last two elements -Momentum Wheel and Weight Holder- provide means to v