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3D Printed Lego Motor Adapters post Adapters to use common components with lego technic. /projects/lego_adapters
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I've been looking at using Lego as a way to quickly prototype ideas.

Magnetic Encoder

The pieces of the mount for encoder board split. One half holds the magnet with an adapter for lego shafts and the other holds the PCB with the endcoder on it.

The encoder and a custom lego motor mounted to a beam with a gear train linking them together and to a lego wheel.

Servo Mount

An adapter for a 9g servo to lego. It has holes for studs to click into and I'm working on designing a lego compatible gear that can mount