🤖Robot Design Search

This is a tentacle inspired by Richard 9000. Strictly speaking, this incarnation is not a derivative, rather it is more like a clone.Similarities:It's a tentacleUses PTFE tube and fishing lineUses 16-channel servo driver driven over I2CUses 16 servos to drive 16 degrees of freedomGreen in colorRan out of PTFE tube partway through constructionDifferences:Cables will be Dyneema fishing line for high strength, minimal stretchEach joint is one degree of freedom instead of two, meaning 16 joints instead of 8Joints use metal pins as bearing elementJoints and pulleys have printed features for securing cables, which work quite wellUses smaller, cheaper servos with tension amplified via capstan (not yet implemented)The purpose of this robot is as a proof-of-concept for driving many degrees of freedom with relatively strong force at low cost.