The picture is here:
I mounted the knee gear motor, with the encoder on it.
I tried running it from just a DC power supply, and it does run just fine, moving the knee up and down, at least with pneumatic assist.
So, the next task is to put one more servo drive inside the cabinet, which is a pain in the butt. I also need to route power and encoder cable, which is also a pain due to needing to drill an extra hole in the enclosure. I am afraid that drilling chips may short some piece of electronics.
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