Thingiverse
Robotics
Go to Model
Harmonic Drive
193
Downloads
190
Likes
1
Makes
My goal was to implement the principle of the harmonic drive into a sturdy solid module that can ultimately be used for making a robotic arm. This is my first prototype, and it works quite nicely.
http://youtu.be/D_neLbcW_BY
The circular spline has 84 teeth. The flex spline (80 teeth) has been printed with flexible PLA. All other parts were printed with regular PLA. The bearing balls are made of copper and are 3.2 mm in diameter in size.
The large bearing needs some work to get a good fit. It is currently too tight when 100% filled with bearing balls.
Print settings (ultimaker)
-0.1 mm @ 25-50mm/s
-nozzle (0.4 mm) temp 225 degC
-bed: 65 degC
-0.1 mm @ 25-90mm/s depending on structure (25 for gears)
Have Fun!
http://youtu.be/D_neLbcW_BY
The circular spline has 84 teeth. The flex spline (80 teeth) has been printed with flexible PLA. All other parts were printed with regular PLA. The bearing balls are made of copper and are 3.2 mm in diameter in size.
The large bearing needs some work to get a good fit. It is currently too tight when 100% filled with bearing balls.
Print settings (ultimaker)
-0.1 mm @ 25-50mm/s
-nozzle (0.4 mm) temp 225 degC
-bed: 65 degC
-0.1 mm @ 25-90mm/s depending on structure (25 for gears)
Have Fun!
Did you print this model? Sign in and share your make!
Sign in to leave a comment
Sign inNo comments yet – be the first!
