Cycloidal Robot Actuator

This compound cycloidal drive is designed for 35mm "tin can"-style stepper motors. It has two stages, yielding a 49:1 drive reduction. The flat package and integral slew bearing (using 6mm dia. Airsoft BB's) on the output plate make it great for robotic applications.This gear reducer is very similar to my compound planetary robot actuator (https://www.thingiverse.com/thing:3293562). This cycloidal version is simpler and easier to print, but the high-speed eccentric motion of the cam does introduce some vibration and it doesn't seem to be quite as efficient as the planetary version..Watch it go: https://youtu.be/HxCDbEL9afcPrint SettingsPrinter:UDIORafts: NoSupports:NoResolution: 0.2mmInfill:20%Filament: Inland PLA Dandelion Yellow Notes: The parts all print up pretty easily. I've included 2 different hubs - one for motors with a 2mm dia. shaft and one for a 3mm dia shaft.After printing go over all beaing race surfaces and cam surfaces with a scraper or sandpaper to eliminate any blobs