Clean design. Clear and instructive explanation. Evaluated the results of the work. Original Content. Material list included. 3D Model included. Perfect video honestly.
to reduce vibration, the eccentric shaft is basically an off center shaft and the cycloidal disc is moving more side to side than rotation movement, so they put 2 disc in opposite side to cancel out the side to side meaning lower vibrations @@snorttroll4379
1. You can draw parametric curve from 0 to 180 degrees, then connect it's start and end, extrude half of the cycloid, and then just mirror it and get full shape. 2. It's better to use SolidWorks variables. This way you can change cycloid's shape much easier. 3. Efficiency was measured incorrectly. Does this motor really produce rated torque? Input torque should have been measured before measuring output torque. And it's also interesting how much torque will this reducer handle before something breaks. :)
I'm an electrical engineer brought here by a chance, however I do have certain appreciation of the mechanical engineering. I am able to judge that this video presents an extensive engineering effort, showing itself both overall and in the details. I wish I could work with you on my energy conversion related projects (quite a lot of mechanical engineering is required there), or that my mech. engineers could represent at least a half of your ability and attitude to the subject.
James Bruton used Cycloidal Drives in his most recent version of the robot dog. And I somehow doubt that it did not inspire you a little. It's worth checking out
That’s a very pleasant comment supported by solid arguments! I can feel it comes from someone who has watch many of the thousands of YT videos themed “let’s make a cycloïdal reducer”.🤦🏻♀️
Hey all, just FYI, the equation as copied and pasted into SW had some issues. I copy and pasted it directly into SW2022 and it came up with something that looked more like a flower than a gear. After watching a video on Stepbystep-robotics channel I was able to figure it out. He had done some intermediate calcs on a couple of the terms and then replaced those terms in the equation and removed the associated parentheses that are no longer needed. This solved the problem. Also, in SW you can use the equation editor to lay out your terms and then put the equation into the sketch using the terms with, with " around each term. This makes your disk editable without having to re-copy/paste the equation in.
In the first seconds of the video I thought the scene was a 3d rendering, so clean it is !!! until I saw your hand grabbing the device. Nice video and valuable content !
About the shaft : when screwing pla parts together, I avoid using purely undersized holes : there will be a lot of friction wich will generate heat when screwing, risking to damage the part. a common option is to use threaded inserts, but they are expensive and not always usable (tiny space for a screw, for example) personally, for 3mm screws (just for reference, my engineering project uses non less than 41 m3 screws all holes made with the following method) : a 2.3-2.4mm hole in the 3d model, that hole is re-drilled with a 2.5mm bit (inner diameter of M3, M5 is 4.2, for reference) with a cordless drill at slow speed to avoid melting the PLA, the hole gets a perpendicular exit (through part hole / I had in the model an other hole perpendicular at the end of the screw's hole) to make an exit for the debris, lastly the hole is slowly hand-threaded with a M3 tap and tap holder with a 2 turns down, half turn up, movement, to limit friction and let debris go down to the exit. If the hole is deeper than 15mm, I firstly do a 10mm pass, remove the tap and clear debris with a straightened paperclip, to much debris will make a lot of friction, heating up the pla and ruining the thread, so go slowly. Uses and personal recommendations : Fixing a pcb : a m3, 6mm long thread is enough. Fixing plastic parts together : a 10-15mm long thread is enough
I've made two of Mechatronics projects, the Mars Rover and the Scara Robot Arm. These projects are great because they are well thought out and designed, with lots of photos and construction details. Looking forward now to make one of these drives to learn about it and maybe use it in a different Scara robot arm. Good stuff Dejan! Thanks for this.
My cycloidal gears want to slip off of their central as the tolerance wasn't made too tight. What do you think I should do to remedy this situation? Should I reprint the gears with a tighter tollerance to force it on the bearing and reconstruct the eccentric shaft or should I just super glue the bearing to the gear on the inside? I wonder if they eventually just do this from wear over time too
these things love and i mean LOVE being submerged in lubricant oil !!! in huge tractors they are always full of lubricate oil and they basically never fail .... tractors put them on final drives becoz of there robustness ... only seals and oil leaks but the mechanism hardly fails
Amazing device. Makes me wonder how a similar design is used in nature when we look at the microscopic level of cellular mechanisms , like protein complexes held in some membranes.
Great video with intuitive and inspiring design. Would you like to specify which bearing to choose where the crank shaft contacts with the cycloidal disks? I do wonder rollers or balls might serve the role better)
@NabtescoMotionControl It is less than 1 % in comparison to regular gear systems. Regular gear boxes are everywhere....cycloidal gearboxes are very limited in industry mostly used for robotics. "Widely used" is subjective. From cars over wind turbines to conveyor belts - all still use planetary or regular reduction gears. Even Tesla's Drive unit is a regular reduction gear. ;)
@NabtescoMotionControl I think you are over reading my comment. I'm not saying they are not used. But in comparison to the amount of regular gear boxes they are literally a fraction in all industy. There has to be some reasons for that. Probably much more expensive to produce, more friction/heat, difficult to maintain etc.
Very interesting video on how to make our own cycloid motor at home, thanks for sharing with us ! On a 3D printer, the horizontal hole extension option is always problematic. I have tested it on many parts on my calibrated X1 sidewinder printer under ideamaker and this is not very accurate and repeatable, the outer parts are ok but the hole diameters are often oblong and always vary from clone to clone. First price 3D printer are good for POC but not suitable for a precision DIY part that must last. I hope that one day "How to mechatronics" will build a mini EDM machine with wire/electrode and/or a sls printer to allow home user to make complex and precise shapes in metal. I am pretty sur that most of us will be happy to sponsort him in order to product this kind of tools in opensource.
wow your video is very nice. i was experimenting with @James Bruton cyclodial drive model. would love to try with yours when i have enough filament. what is next harmonic drive?
Thank you! Go for it :) There's already a video for Harmonic drive from last year. If you've missed it, here it is: ruclips.net/video/xlnNj9F37MA/видео.html Cheers
Excellent work and video ! Congrats One question if I may : what are the advantages & drawbacks of a cycloidal drive vs a strain wave gear (harmonic drive) ?
one question: if you have 12 bushings and the plates have 11 notches, why is the ration 11:1 and not 12:1 ? each notch of the plates has to engage 12 times to get one revolution. or am i misthinking the case?
Thanks for sharing. Thanks to the sponsor comlany made it easy for us to see your current project. I need to see again and put my questions later here. Can you name so e apication please. Thanks. PJ, Germany
Thank you for your helpful video. I was wondering if you could help me out with 2 questions. How did you calculate the thickness of the disc and also how did you decide on the number of output holes on the disc ? Your video was a great inspiration, I hope to build my own version very soon. Thanks again!
I though this was made from legos when i first seen it. So now i wonder if its possible to create a lego kit which would build a "functional" one of these. Be a great way for kids to learn how these engines are put together and how they work.
The purpose of having two disks out of phase is to ensure that the pin disk is firmly braced inside the holes of the cycloidal disk, and provide a counterbalance to either single cycloidal disk, reducing vibration and backlash. If you look at how the cycloidal disks drive the pin disk, only one disk is theoretically necessary for smooth motion on the output shaft. A third disk, 120 degrees out of phase is just going to add size, weight, and complexity, and it’lll make your tolerance stackup a nightmare to deal with. And there’s no real upside to it.
@@SergeiPetrov Just a matter of tightening up your tolerances and making sure your cycloidal disks have the correct tooth profile. Adding more disks won’t fix either problem.
If you want the outer housing (outer part to turn) and the pins that are used as the output to be kept in place, can you still use pins for the outside or do you have to have another cycloid?
Stop the parametric curve at 99.99% an jankily finish it with a little arc => Solidworks in a nutshelll XD This thing drives me nuts : gets crazy good, easy to use functions and drawing abilities to 99,99% and you spend days fixing the 0.01% because it requires you to rethink your design around it. Amazing gearing tho, really like how simple and compact these ones looks. But can't help to wonder about their durability and efficiency... not mentionning how expensive they are.
Greatly explained! And shown details are also very comprehensive. Is the output speed very uniform or did you recognize any unsteadyness. So you recommend these published formulas?
I tried to wrap my head around this thing a couple of times; somehow I always missed the eccentric bearing, thinking it and the discs were one solid unit. It all makes sense now, lol
Say if I want to mount a position sensor on the output. How could we achieve that if everything is moving inside? And to clarify, I mean without interfering with the output shaft. And as always, great video!
@@tomusklepipieta1009 well, yeah. But how would you mount that? Everything inside of it is moving and the gear speed is different than the output shaft speed. This is most problematic for absolute encoder.
Bolt the encoder casing to the cycloidal drive casing. It’s the same as any other reduction scheme. Something has to be stationary in the greater assembly for it all to work. Just because the guts are moving doesn’t mean the casing should.
Having used Solid works for over 10 years, I moved on to Fusion 360. I'm glad I did. The program is much more intuitive and being a top down CAD, a dream to work with and make complicated parts without leaving the assembly environment. I don't know how Solid Works became the leader in CAD, given Autocad had decades of more experience, Autodesk is making a comeback with a vengeance. Of course, those that are running pirated versions of SolidWorks, will never switch to Fusion 360.
Catia is the leader in CAD not Solidworks. Solidworks is primitive in comparison but easier to learn. Fusion 360 is not really design software. It's intended for parts and CNC integration. You can't create assemblies with thousands of parts in Fusion. Solidworks also starts to sweat with large assemblies while Catia handles it like nothing.
It is an interesting design, but it seems to need a large number of parts compared to reduction gears or belts. Does it cost more to make, or less than comparable gear systems?
Clean design. Clear and instructive explanation. Evaluated the results of the work. Original Content. Material list included. 3D Model included. Perfect video honestly.
Glad you enjoyed it!
He’s a gem 💎
are they lighter or just more compact? than gears i meaan. can they be used for an ebike??
why the double layer of cycloid discs?
to reduce vibration, the eccentric shaft is basically an off center shaft and the cycloidal disc is moving more side to side than rotation movement, so they put 2 disc in opposite
side to cancel out the side to side meaning lower vibrations @@snorttroll4379
This mechanism was my master's work during studying process, but yours is the best.
What a SPLENDID video showing such a brilliant design. I am a bit amazed at the accuracy you got from the 3D printer.
1. You can draw parametric curve from 0 to 180 degrees, then connect it's start and end, extrude half of the cycloid, and then just mirror it and get full shape.
2. It's better to use SolidWorks variables. This way you can change cycloid's shape much easier.
3. Efficiency was measured incorrectly. Does this motor really produce rated torque? Input torque should have been measured before measuring output torque.
And it's also interesting how much torque will this reducer handle before something breaks. :)
I'm an electrical engineer brought here by a chance, however I do have certain appreciation of the mechanical engineering.
I am able to judge that this video presents an extensive engineering effort, showing itself both overall and in the details.
I wish I could work with you on my energy conversion related projects (quite a lot of mechanical engineering is required there), or that my mech. engineers could represent at least a half of your ability and attitude to the subject.
James Bruton used Cycloidal Drives in his most recent version of the robot dog. And I somehow doubt that it did not inspire you a little.
It's worth checking out
Thank you for reading my mind with this comment lol
That’s a very pleasant comment supported by solid arguments! I can feel it comes from someone who has watch many of the thousands of YT videos themed “let’s make a cycloïdal reducer”.🤦🏻♀️
Just another expression of wanting a Prusa XL.
Hey all, just FYI, the equation as copied and pasted into SW had some issues. I copy and pasted it directly into SW2022 and it came up with something that looked more like a flower than a gear. After watching a video on Stepbystep-robotics channel I was able to figure it out. He had done some intermediate calcs on a couple of the terms and then replaced those terms in the equation and removed the associated parentheses that are no longer needed. This solved the problem. Also, in SW you can use the equation editor to lay out your terms and then put the equation into the sketch using the terms with, with " around each term. This makes your disk editable without having to re-copy/paste the equation in.
This is an absolutely beautiful design! Keep up the outstanding work!
Thank you very much!
In the first seconds of the video I thought the scene was a 3d rendering, so clean it is !!! until I saw your hand grabbing the device. Nice video and valuable content !
Thanks! 😀
Your channel is just amazing!! This deserved a scara pic and place with computer vision detecting objects!
are these suitable for ebike motors?
About the shaft :
when screwing pla parts together, I avoid using purely undersized holes : there will be a lot of friction wich will generate heat when screwing, risking to damage the part.
a common option is to use threaded inserts, but they are expensive and not always usable (tiny space for a screw, for example)
personally, for 3mm screws (just for reference, my engineering project uses non less than 41 m3 screws all holes made with the following method) : a 2.3-2.4mm hole in the 3d model, that hole is re-drilled with a 2.5mm bit (inner diameter of M3, M5 is 4.2, for reference) with a cordless drill at slow speed to avoid melting the PLA, the hole gets a perpendicular exit (through part hole / I had in the model an other hole perpendicular at the end of the screw's hole) to make an exit for the debris, lastly the hole is slowly hand-threaded with a M3 tap and tap holder with a 2 turns down, half turn up, movement, to limit friction and let debris go down to the exit. If the hole is deeper than 15mm, I firstly do a 10mm pass, remove the tap and clear debris with a straightened paperclip, to much debris will make a lot of friction, heating up the pla and ruining the thread, so go slowly.
Uses and personal recommendations :
Fixing a pcb : a m3, 6mm long thread is enough.
Fixing plastic parts together : a 10-15mm long thread is enough
Beautifully done project! A transparent cover would be cool for showing what’s happening inside and dust protection.
Thanks!
It thought it was a digital model, then you touched it and started interacting with it my mind melted for a second
hehe 😀
I've made two of Mechatronics projects, the Mars Rover and the Scara Robot Arm. These projects are great because they are well thought out and designed, with lots of photos and construction details. Looking forward now to make one of these drives to learn about it and maybe use it in a different Scara robot arm. Good stuff Dejan! Thanks for this.
that was quite beautiful. elegant mechanics.
I actually used your version with the 3mm shafts as it didn't cause failure and was preferably lighter.
Ото мені чудо,хвильовий редуктор.
My cycloidal gears want to slip off of their central as the tolerance wasn't made too tight. What do you think I should do to remedy this situation? Should I reprint the gears with a tighter tollerance to force it on the bearing and reconstruct the eccentric shaft or should I just super glue the bearing to the gear on the inside? I wonder if they eventually just do this from wear over time too
these things love and i mean LOVE being submerged in lubricant oil !!! in huge tractors they are always full of lubricate oil and they basically never fail .... tractors put them on final drives becoz of there robustness ... only seals and oil leaks but the mechanism hardly fails
OMG Thank you so much for uploading this video
Now I understand how to drive it
"15 times increase" is not the same as "increase to 15 times". Something increased 15 times is now 16 times as much as before.
This video can really add value to the other old industrial applications . Great work👍
Can you recommend one or a substitute that will last decades?
At 6:04 you said you can determine the ring diameter pitch using the number of rollers and their diameter. How? What is the formula for that?
Could you add a link to the paper with the equation pls?
Amazing device.
Makes me wonder how a similar design is used in nature when we look at the microscopic level of cellular mechanisms , like protein complexes held in some membranes.
is there a way to design it to have little to no vibration?
A sumitomo gearbox is the first thing I thought of when i seen this!! Try tearing one of those down to replace bearings!!
Excellent as usual! I never expect anything less from your videos.
Thank you!
Great video with intuitive and inspiring design. Would you like to specify which bearing to choose where the crank shaft contacts with the cycloidal disks? I do wonder rollers or balls might serve the role better)
Good explanation. Thank you! Who invented this cycloidal? crazy!!
I think the reason why cycodial drives are not used more widely in industry is the much higher friction in comparison to regular gearboxes.
@NabtescoMotionControl It is less than 1 % in comparison to regular gear systems. Regular gear boxes are everywhere....cycloidal gearboxes are very limited in industry mostly used for robotics. "Widely used" is subjective. From cars over wind turbines to conveyor belts - all still use planetary or regular reduction gears. Even Tesla's Drive unit is a regular reduction gear. ;)
@NabtescoMotionControl I think you are over reading my comment. I'm not saying they are not used. But in comparison to the amount of regular gear boxes they are literally a fraction in all industy. There has to be some reasons for that. Probably much more expensive to produce, more friction/heat, difficult to maintain etc.
Very interesting video on how to make our own cycloid motor at home, thanks for sharing with us !
On a 3D printer, the horizontal hole extension option is always problematic. I have tested it on many parts on my calibrated X1 sidewinder printer under ideamaker and this is not very accurate and repeatable, the outer parts are ok but the hole diameters are often oblong and always vary from clone to clone. First price 3D printer are good for POC but not suitable for a precision DIY part that must last. I hope that one day "How to mechatronics" will build a mini EDM machine with wire/electrode and/or a sls printer to allow home user to make complex and precise shapes in metal. I am pretty sur that most of us will be happy to sponsort him in order to product this kind of tools in opensource.
Yeah, the hole expansion option doesn't solve all problems.
Thanks for the input and the suggestion. I will take it into consideration.
Cheers!
Great job! Thanks for sharing with us !
Amazing work sir. Please also work on DIY QUADRAPED robot.
AvE has a great teardown of one of these amazing devices.
AvE is a hack.
@@jamescrud this may be true, but he is also very knowledgeable when it comes to mechanical and electrical components of tools.
@@onradioactivewaves Well he''s very good at giving that impression.
Good video! Bravo, brate! :)
wow your video is very nice. i was experimenting with @James Bruton cyclodial drive model. would love to try with yours when i have enough filament. what is next harmonic drive?
Thank you! Go for it :)
There's already a video for Harmonic drive from last year. If you've missed it, here it is: ruclips.net/video/xlnNj9F37MA/видео.html
Cheers
ok will check out
Congrats! Long way to come out with this, wasn't it? 3D printing and SW is like playing to be God!
Excellent work and video ! Congrats
One question if I may : what are the advantages & drawbacks of a cycloidal drive vs a strain wave gear (harmonic drive) ?
Awesome bro.
Thanks!
Impressive piece of ingenuity ! Well done !
Thank you!
Absolutely My Respect 👍🏼‼️
Great video! I’m curious what efficiency did you calculate? In/Out Power efficiency?
Wow this is a superb video. Subscribed & liked. Thank you!
Thanks!
Awesome project! one of the best i've ever seen , Thanks for sharing, I really enjoyed it.
Glad you enjoyed it, cheers!
Brilliant work and explanation!!!!
Wow! absolutely amazing project. Thanks for share your skills
My pleasure!
Great explanation and great video.
Thank you! Your channel is quite inspiring too!
Cheers
Very good cycloidal drive to do cycloidal things.
everytime i dont know some concept and try to find it and still dont get it clearly,you upload it
I didn't know before that there was a gearbox like this after I opened a gearbox at my work, well little confused 😅
Respect man. it's good job.
one question:
if you have 12 bushings and the plates have 11 notches, why is the ration 11:1 and not 12:1 ?
each notch of the plates has to engage 12 times to get one revolution.
or am i misthinking the case?
Can you make a video on the 4 digit display module with TM1637 IC
Please
Great explanation
Wow. Incredible.
Beautiful work :)
Beautiful my friend ❤️👍😍✨
Wow the Design.❤️🇱🇰
Very good
very good animation
Amazing job, mate
Beautiful. By the way, what if the outer part is driven by a second motor. How does output speed changes?
Can you please upload a tutorial on how to make automatic water level controller using 555 timer ic with theory and explanation
Thanks for sharing. Thanks to the sponsor comlany made it easy for us to see your current project. I need to see again and put my questions later here. Can you name so e apication please. Thanks. PJ, Germany
hey guy, i see project is sand table, it’s beautiful and interesting, you can make do it??
I wish the xt and yt equations worked for me, my cad package says they are invalid...sad
Would this be a good replacement for a Harmonic drive?
Can you say how the derivation of the cycloidal disc is made . I want the derivation of those cycloidal drive equations
It’s very cool!
Great video. Can you tell me about the music in the video, thanks a lot.
How is it powered? This would make a GREAT bike motor
Great!
Thanks!
Thank you for your helpful video. I was wondering if you could help me out with 2 questions. How did you calculate the thickness of the disc and also how did you decide on the number of output holes on the disc ? Your video was a great inspiration, I hope to build my own version very soon. Thanks again!
Glad it was helpful! I didn't put much time researching about those two parameters, so I chose them arbitrary.
I though this was made from legos when i first seen it.
So now i wonder if its possible to create a lego kit which would build a "functional" one of these. Be a great way for kids to learn how these engines are put together and how they work.
neat ! great job explaining.
Nice! Would using 3 disks 120 degrees offset allow constant power transfer, ie slightly smoother? Similar to the idea behind 3-phase electricity?
The purpose of having two disks out of phase is to ensure that the pin disk is firmly braced inside the holes of the cycloidal disk, and provide a counterbalance to either single cycloidal disk, reducing vibration and backlash.
If you look at how the cycloidal disks drive the pin disk, only one disk is theoretically necessary for smooth motion on the output shaft.
A third disk, 120 degrees out of phase is just going to add size, weight, and complexity, and it’lll make your tolerance stackup a nightmare to deal with. And there’s no real upside to it.
@@luke_fabis In practice, however, this gearbox model, like all similar ones, shows an uneven rotation of the output shaft.
@@SergeiPetrov Just a matter of tightening up your tolerances and making sure your cycloidal disks have the correct tooth profile. Adding more disks won’t fix either problem.
If you want the outer housing (outer part to turn) and the pins that are used as the output to be kept in place, can you still use pins for the outside or do you have to have another cycloid?
14:01 nice project. You try any brushless motor?
What about vibration on the Cycloidal Drive? its not incresead?
Stop the parametric curve at 99.99% an jankily finish it with a little arc => Solidworks in a nutshelll XD
This thing drives me nuts : gets crazy good, easy to use functions and drawing abilities to 99,99% and you spend days fixing the 0.01% because it requires you to rethink your design around it.
Amazing gearing tho, really like how simple and compact these ones looks. But can't help to wonder about their durability and efficiency... not mentionning how expensive they are.
That is dang cool great video
In the video in which you told how 555 timer IC works can you tell which software did you use to animate the video???
Greatly explained! And shown details are also very comprehensive. Is the output speed very uniform or did you recognize any unsteadyness. So you recommend these published formulas?
So happy to find this channel. I don't need porn anymore.
I tried to wrap my head around this thing a couple of times; somehow I always missed the eccentric bearing, thinking it and the discs were one solid unit. It all makes sense now, lol
Glad to hear the video was helpful! Cheers
You should really look at Nu-torque nu-tating motors
Beautiful!
Its such a informative video, can we increase the speed by using cycloidal gearbox by reversing it. Is there any limitations for it..?
Please make a video on robotic arm 3d printer
I Love this video.
Say if I want to mount a position sensor on the output. How could we achieve that if everything is moving inside? And to clarify, I mean without interfering with the output shaft. And as always, great video!
encoder
@@tomusklepipieta1009 well, yeah. But how would you mount that? Everything inside of it is moving and the gear speed is different than the output shaft speed. This is most problematic for absolute encoder.
Bolt the encoder casing to the cycloidal drive casing.
It’s the same as any other reduction scheme. Something has to be stationary in the greater assembly for it all to work. Just because the guts are moving doesn’t mean the casing should.
Embed magnets into cycloid disk, and use Hall effect sensors in the frame.
Excellent video.
Thank you very much!
Good explonation.
does it work on high rpm 10-50 k rpm?
What is the measurement on the backlash?
After long time
Having used Solid works for over 10 years, I moved on to Fusion 360.
I'm glad I did. The program is much more intuitive and being a top down CAD, a dream to work with and make complicated parts without leaving the assembly environment.
I don't know how Solid Works became the leader in CAD, given Autocad had decades of more experience, Autodesk is making a comeback with a vengeance.
Of course, those that are running pirated versions of SolidWorks, will never switch to Fusion 360.
Catia is the leader in CAD not Solidworks. Solidworks is primitive in comparison but easier to learn. Fusion 360 is not really design software. It's intended for parts and CNC integration. You can't create assemblies with thousands of parts in Fusion. Solidworks also starts to sweat with large assemblies while Catia handles it like nothing.
It is an interesting design, but it seems to need a large number of parts compared to reduction gears or belts. Does it cost more to make, or less than comparable gear systems?
Cool project!