# @armas.4am on Instagram

- **Type:** Video
- **Original URL:** https://www.instagram.com/p/DdOntemtIe3
- **Gondola URL:** https://gondola.cc/posts/70571518-armas4am-instagram
- **Thumbnail:** https://img.gondola.cc/tr:w-,h-,fo-auto/postThumbnails/e468fbfb38.jpg
- **Posted:** 2026-09-13T13:06:12.000+00:00
- **Account Owner:** Armas Zarra (@armas.4am) — https://gondola.cc/armas.4am

## Caption

Full assembly of my prototype internal cycloidal actuator!

The 8:1 gear reduction technically also make this an internal cycloidal quasi-direct drive actuator. This is just a long fancy way of saying that the gear reducer is actually part of the motor. This was such an incredible learning experience, but I know what needs to come next :)

#engineering #robotics #actuator #robots #roboticarm

## Stats

- **Views:** 195,613
- **Likes:** 22,198
- **Shares:** 0
- **Comments:** 76

## Tags

engineering, robots, roboticarm, robotics, actuator

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