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Frank,
Heres a link to a guy who'se made a linear actuator
for $10- for the purpose
of making a robotic arm.
I think the way you are oil compensating your
actuator opens up the possibility of using them for underwater robotic
arms.
If you copied what this person has done but with
stainless pipe & gears, put your belows on it & stuck a
magnetic linear
potentiometer to the outside to monitor & limit
travel, you'd have a useful component.
Alan
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