Relatively successful was slotting the cat5 jacket, cutting off two or three of the pairs, twisting/tying the remaining pair to the old wire, then sliding the jacket back over the join before wrapping in a conservative amount of electrical tape. You want the join to be similar width to the cable and preferably flexible.
I have a suspicion that pulling fishing line first is the right play if you can manage to connect it to the old wire. Flexible, very high tensile strength, small.
In addition, in one room I ran two CAT5E cables as there was conduit along the entire way. So I took a CAT5E cable double the length of the conduit, stripped the outer sheath in the middle, folded the cable to get a loop and then attached the phone cable to that using the individual inner wires. Plus tape.
Well this is such an old project idea that they are already being sold on aliexpress both in complete form for $500 and $50 per torque axis if you want to make one from scratch. Just search up cubli.
The brushless type looks interesting, since you get the flywheel, the motor, an integrated driver, and encoder board all in one piece. A bit pricey still, and the encoder documentation is lacking, otherwise I might've ordered one or two already.
Would be really cool to make a satelite model that hangs from the ceiling by hanging it at its center of mass on a ball joint, so it can rotate in all directions, then using these to orient it in specific ways, solar panels for charging, radio comms to give it commands, sonic humidifier as the rocket engine, etc. Maybe one day lol.
