Core wire wrist

Two degree of freedom differential joint driven by cables. Cables loop around side spindles and tie on the output spindle. Pulling both pulleys in the same direction actuates pitch and pulling on them in opposite directions results in yaw. Check the video demo on youtube: https://www.youtube.com/watch?v=NWx2Z5SRjbg

This joint is used as the wrist of a robotic hand; the full design will be published when finished.

For the uploaded parts you need to design the static mount on which the "Side brackets" attach, as well as the output which can be combined to the "Output spindle". You also need two motor pulleys to drive each side; making sure the wires run smoothly to the channels in the "Side brackets".

Requires 6 deep groove "6702" ball bearings (inner diameter 15mm outer diameter 21mm depth 4mm).