As we decided to have a tethered power supply (and climbing aid) for our legged robot, we were in need for some device to pull the power line and the robot out of the crater. After unsuccessfully looking for a traditional of the shelf solution, we decided to create our own spill winch. This design has the advantage that there is no need for slip ring connections and that the effective cable pull is easy to control by the small pre-loading system.
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