Low profile, 3D printed harmonic drive/strain wave reduction.
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- Опубликовано: 15 сен 2024
- here is the 1st revision of my harmonic drive. there are a few things I can change, but right now it runs really smooth and looks to be VERY promising.
www.thingivers...
here is the thingiverse link for those interested www.thingiverse.com/thing:4802917
Looks like all your work around harmonic drives paid well. Congrats.
Wow, that looks super smooth! Looking forward to more videos.
Very nice work! I love how simple you made it.
that looks really fantastic! please do test the backlash too though. i know harmonic drives are supposed to be inherently backlash free but i've seen other DIY attempts where that wasn't necessarily the case. awesome work though, it really looks amazingly smooth!
Really enjoyed watching your progress, I’m thinking about starting a SCARA printer so your experiences are very relevant. (Also, if international travel was allowed, I’d be over there tidying that room!!!! 😈)
That's a fantastic piece of engineering! Absolutely love it! If you release the design for this Id love to print one for fun! 😁
Same, let us know if you put it on thingiverse or github. I don't know what I'd use it for yet, but I want one!
@@NathanBuildsRobots to start with... I'm thinking a satisfyingly smooth rotating coffee cup coaster - an essential for every engineers desk! 😅
...we'll see where it goes from there! 😂
www.thingiverse.com/thing:4802917
@@KoalDesigns Absolute legend
nice! looking forward to the torque test.
Awesome! First really viable 3D printed harmonic I've seen. I'm amazed it works at all since the belt is essentially wedging its way between the teeth of the two rings rather than rolling like compound planetary gears. And one or both sets of teeth must not be quite the right size due to having different count with same diameter ring. But the proof is in the pudding :) How is the backlash/rigidity when holding position?
I'd recommend using a parallel bar linkage rather than putting an actuator on the elbow. That will keep the moving mass low. A beefier proximal arm would also be good, if you can afford it. Carbon may be stiff, but that tube is pretty skinny for such a long arm.
I'm working on a robot where I put both motors in the proximal link, just make the shoulder joint and proximal link beefier. Makes it a lot easier to wire it up.
I've also done parallel bar linkages, but they need a lot more joints which adds complexity and is more work to program.
@@NathanBuildsRobots Why would it require a change in programming? It should transfer the exact angle from the actuator to the elbow. The main limitation I can think of is range of motion/loss of mechanical advantage as you approach + or - 90 degrees from center. Probably best to keep within a 120 degree range.
Looks great! Is this a Koal original meant for open source? Have you run into any issues with the printed parts and wear? Looking forward to the torque results.
Bravo!
Very cool!
this is nice!
harmonics are not backdrivable. wouldnt you want to have your to be backdriveable?