Thingiverse

Closed loop harmonic drive

by jonathanmiranda12

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Small compact 3d printed closed loop harmonic drive. The flex spline should be printed with flexible material for optimal performance but works with standard PLA at 100% infill. The harmonic drive has the option to mount a potentiometer/encoder which makes the actuator closed loop and allows for precise position control. A simple PID controller can be implemented to go from open loop to closed loop.

Feel free to message me with any questions!

Source

Thingiverse

What you need to print this: Beginner Low confidence

Single piece

Supports 1/3

Assembly 0/3

Settings 1/3

Bed size 0/3

Post-process 0/3

Printer

FDM / FFF

File format