I ended up ordering the parts using various materials: steel alloy 45# (for gear parts) and aluminum 6061 + 7075.

Additional 45° 3D-printed PETG gear and shaft parts to the rescue

JBD BMS voltage drops, additional observations: 1. Issue seems to occur only below ~0.3A 2. Issue occurs every ~18 mins, unless RS485 communication is active, and then the frequency decreases to ~30 mins 3. No protection faults are triggered 4. Reproducible across two identical

The bot practices yoga during a BMS debugging session

Dissipating heat

JBD BMS Issue Solved Recap: BMS drops voltage every ~18 minutes when current is low (< ~0.3A). Why? Unclear. BMS entering standby? Recalibrating? Hard to say. Workaround: Draw a noticeable current every ~5-10 minutes to keep the BMS active. Relevance to robots: In standby

Super interesting: observablehq.com/@christophe-ya…

I’m switching to Robstride. It’s a bit more expensive, but I’m hoping to find: - Mechanical consistency - Consistent thermal performance - Calibration consistency - Control consistency - Minimal sim2real gap Robstride are adopted by prominent Robotic projects and I’m hopeful