Components

Small 5 V Dynamixel smart servo with a 77:1 gear ratio, fast and light, used for wrist and gripper joints.

Small 5 V Dynamixel smart servo with a 288:1 gear ratio, more torque for the main joints of low-cost arms.

12 V Dynamixel smart servo with a 250:1 gear ratio and a metal frame, the standard actuator of mid-size hobby arms.

Frame brackets and idler wheels that mount XL330 servos and let joints turn on both sides of the motor.

Idler wheel set that supports the far side of an XL430 joint so the servo horn is not the only bearing.