It consists of several main components: impeller0 spiral, pulley, axis0 bearing, and housing.
The pulley stage as well as motor control electronics are mounted on top of the extrusion, protected by a cosmetic cover.
The motor drives the rotary actuator through a bevel gear stage and toothed pulley belt.
The transmission of the forces is made by belts and pulleys.
A torsional spring, a pulley for the wire, and a potentiometer are fixed on a common shaft.
When it is necessary to change the reduced frequency, the radius of the pulley is changed.
After that other objects were added with a pulley and the maximum weight was measured.
Moreover, the generated movement tends to be specific to each problem and may be difficult to be reused for the different configuration of pulleys.
