High-Traction Capstan Drive System

# High-Traction Capstan Drive System

This project implements a high-grip capstan (bull wheel) drive system, designed to translate high-torque servo power into smooth linear motion. By wrapping the drive string multiple times around the central hub and guiding it through V-groove bearings, the system achieves maximum frictional coupling and prevents slippage.

[Image of capstan drive mechanism with multiple wraps]

## Key Components
* **Actuator:** SDSK3432 ClearPath Servo
* **Drive Interface:** Custom bull wheel / capstan hub
* **Guidance:** 12mm V-groove bearings
* **Medium:** High-tensile string/cable (optimized for capstan wrap)

## Mechanical Design & Function
* **Traction Management:** The design utilizes multiple wraps around the bull wheel to multiply the available friction based on the capstan equation.
* **Alignment:** Integrated 12mm V-groove bearings ensure the string remains centered and properly tensioned across the drive surface.
* **Control:** The SDSK3432 ClearPath ser