Harmonic Drive

Harmonic Drives (Strain Wave Gearbox) offer a high gear ratio, precise transmission with no backlash, low noise, and a small form factor, making them a great option for robotic applications. However, the price of harmonic drives could be quite unaffordable and the shaft design is usually not customizable. Therefore, I present a mostly 3D-printed harmonic drive for both NEMA17 and NEMA23 stepper motors. Tolerance is fine-tuned for BambuLab P1S and BambuLab PETG Basic. Parts should fit perfectly together and the gears will not make any noise when turning. The gear ratio (teeth size) is also fine-tuned to maximize output torque, stability under high speed, and reliability given the material properties of PETG. I want this to be an open-source project so it gets improved collaboratively. Feel free to use the .STEP, .STL, and .3MF files included to build better versions! Engineering Specification:Number of teeth on the wavegear: 50Number of teeth on the hub: 52Number of teeth on the base: 5