What is Strain Wave Gear a.k.a. Harmonic Drive? A Perfect Gear Set For Robotics Applications!?
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- Опубликовано: 26 сен 2024
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In this tutorial we will learn what is Strain Wave Gear, also known as Harmonic Drive.
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always best ideas, you can introduce with your Scara robot?
Please stop talking with a Russian accent
10:20 yoooo he said it!
It’s 2 am I need sleep
The file is being downloaded, but it is corrupted.
No words can be said to explain how your overall effort and metodology contribute to the world of engineering in a clear and precise way. You are the true example of a leader who add value to the things that surround him.
Engineering at its finest!
Thank you so very much! These words are so motivating!
@@HowToMechatronics where are you from actually? I don't understand your accent.
@@jien2550 Most likely eastern europe or nordic countries
I love it. I'm building a 2 legged robot on my channel. Check it out and let me know what you think, thanks.
That's a great bit of engineering..... Things went together beautifully....really enjoyed watching that, thanks for uploading...
Thanks, glad you enjoyed it!
yeah it was designed so well!
Ditto, very envious of your set-up and capabilities, well done
A CRAP load of engineering. I would like to know how many iterations it took since he made so many modifications to adapt to 3D printing.
@@huvrr1 For simpler projects I designed took me dozens of iterations, design corrections, printer settings corrections, material temperature corections, untill I finally got some decent result, than again , and again, untill it worked flawlesly (which is not perfect, but close enough), so I would't be surprisedf if he say some number in the tune of ... hundreds.
If you attach a precision encoder or resolver to the input and output and graph the relationships you will find that harmonic drives have some weird nonlinearities. We were trying to use them for some very high precision robotics applications in the 90s and this gave us big headaches!
What kind of nonlinearities?
do you think there are the same problems today almost 30 years later?
@@EmGi_ sine waves! I believe it's inherent. Maybe the boffins have found a fix?
How did you work around the issue? Just a nightmarish transfer function?
Posting in this thread for when someone posts the solutions for this
10:20 Deeeez nutz!
11:02
came looking for this as soon as i heard it.
Got'em
Deeeez teeth lol
Image him teaching his kid to say teeth
But for realz good video.
That's amazing that you can make this with a 3d printer.
I'm in the middle of building my own 3d printer and will definitely try making this once I've learnt how my printer works
this is one of the most innovative projects i have watched... 1st. the strain wave gear how did anyone ever think of it? 2nd. fantastic 3D printer project 3rd. great arduino project! thanks..:)
After watching other videos, I found this one to be straight to the point and it gave me a clear-cut idea about harmonic drives. Thank you.
These strain wave gears make me smile, I'd love to use them but they are really expensive....
Nice printed model!
You might be able to buy a cheap 3d printer and simply take a model off of the internet, or model your own, for cheaper than buying one
Thanks!
@@slimknight_ as the video showed. And as every other video with a 3d printed strain wave gearbox has shown. 3d printing can't really achieve zero backlash. Nevermind the durability. So he can't really just 3d print one if he wants to actually use one as intended. (high accuracy, no backlash, low wear)
If you do mechanical construction, you definitely want to get a good, inexpensive 3D printer and Fusion 360. Fusion 360 is free for home use, they'll actually give you a free license. But you CANNOT sell the models you make and you CANNOT use it to make models at work in a company! Non-commercial home use only!
@@PunakiviAddikti Exactly, I am very happy with my prusa i3 for example. inexpensive and extremely high quality prints. Have not yet failed a print with 3158 hours printing time, last time I checked. I'm not using fusion though, I tried but just doesn't work out for me. So I will stick to SW2020 :)
Really enjoyed this video, loved the commentary at 10:21
Freddie Saunders
@@thatfeeble-mindedboy deeeezzzzz nuts!!@
Great video. I watch a few others on harmonic gearing, but this is the first one where the operation of the gears was quickly discernible, thanks!
This was an awesome descriptive walk through of a design element many could use in robotic applications!
Glad you liked it!
That drive mechanism is absolutely genius! Love it, weirdly haven't heard about it before. Tickled my mechanical engineering itch so good...
Really appreciate the massive efforts that must have gone into creating this one!!
Very well explained in a clear and and concise fashion (finally!). Thank you very much.
Did you notice that after you applied the tape (video mark 15:00 ) the outer housing was flexing quite a lot. This is a very interesting set up that allows better than worm gear ratios concentrically. Remarkable!
This type of gearing system would be perfect for an equatorial mount for a telescope. The backlash would have to be limited considerably though. Awesome video, thanks
ZWO is releasing a EQ version in 2022
That was fantastic. I now understand both the basics of a Strain Wave Gear Drive as well as the inherent complexities of making a specific size drive with little to no backlash. No wonder they're so freaking expensive. Of course, I have to build this now. thanks so much for sharing !!
Glad you enjoyed it!
Back in the early 80s we were working at a technical college and built a small robot-arm that was controlled by one of the early PCs.
We could get the arm to touch the same point maybe 5 times out of 10. No stepper motors were available to us back then.
Still, it was quite something and we were pleased with the result. A little frustrating to know we could have done so much better with a little more resource, a little more time.....
And now this! Less than 40 years later and we can make components using 3d printers using software that was the stuff of dreams back then. (Actually, we had Autocad which was great for the time but so sloooow). Had you suggested that things like the Arduino would be available in the future, then few would have believed.
Your video is inspirational. Thank you for sharing.
Yeah it's amazing how fast technology advance, and many things get super available for all of us.
Thanks for the input!
It's actually the people like both of you guys that advance technology. It always amazes me how many inventions were made in the 30's, 40's, 50's, all the high tech stuff we have today came from people like you finding stuff out the hard way, the learning way. Too many people just not doing any thinking about stuff these days. Keep doing what you're doing and include yourselves amongst your own icons, after all , you are inspiration for the future.
I wish I had your abiblity, to say this is impressive does no justice. Amazing. I now understand how a harmonic drive works :)
CraftWare slicer has the same parameter like the Horizontal Expansion, but it is called Vertical Shell Offset and I usually set it to 0.07mm for the best results.
Thank you for the nice video! Good explanation!
Genuinely one of the coolest builds and videos. Videos and the build files u provide is what reminds me of how great the internet is.
Glad you enjoy it!
woa, this project has evolved !! I made one when it first popped up on thingiverse. 3-5 years ago... Excellent video. My 2c = I think the size of the inner teeth will need to be non standard. The size is based on the traditional gear formulas. Those are meant to mesh with each other and I think the backlash problem will be solved by customizing the tooth profile. For example: Making the inner tooth profile thicker near the root(pressure angle?) ... OR Why not think outside the box and use 2 sets of gears !! You know that old trick where the slack in 'linear rails' is removed by using a second rail which is offset. Split the rail and set the offset, So one rail is on one side of the tooth, and the other rail is pushed against the next. On small music players it was merely a spring which provided this tension. //// Also, I've been a fan of printing flat templates >> In the end, you made the acrylic face plate
Wouldn't a regular 2D printer be faster for printing templates?
Spiffy! I took a Mechetronics class recently as part of my BSME, and it interested me so much by the end of it that I plan on taking another Mechetronics class as an elective down the road. I'll be following your channel closely!
WOW! This is inarguable the BEST video on the HPR motor. Thanks!
Great job my friend, you inspired so many people!
Nice description and demonstration. Used a harmonic drive about 35 years ago, if you look at how the drive is transferred it should be obvious that it's non linear, almost a kind of ratchet action. This therefore does not really lend it self to being used within a precision reduction system. An important consideration is that these gearboxes are most efficient when working at, I seem to remember but may be wrong, some 90% of maximum design loading, efficiency drops off dramatically at lower loadings, from this it can be surmised that it would be only suitable for a constant load.
Thank you so much! Im fairly new to CNC and thinking of adding a 4th rotary axis to my AVID Pro 4848.Thanks to your Video I now totally understand the mechanics of a Harmonic drive system... OUTSTANDING!!!!!
great work, instant subscription!
harmonic drives really are an ingeniously simple and elegant mechanism, and the form factor is just perfect for robotics. (wonder how slim you could make a hollow one) but i think for 3D printed projects requiring a lot reduction and torque, the money still is in worm gears and good old linear screw actuators.
Thanks for the input!
No words, buddy. Just feelings.
Best explation ever. Great visualisation, can see the effort that was put in it.
But I have too many questions.
1. Can it be used as high torque lowspeed to low torque higher speeds? ( Just like normal gear box using in both the direction)
2. What if we use very high speed motors ( drone motors) as input?
3. Can flexible inner teeth made of aluminum withstand higher input rpm?
4. Efficiency and heating?
I have lot more to ask but just need these answers.
I know these are a bit weird questions, just want to compare with other models of gear boxes.
BTW you got a new subscriber...
All the best for future videos and lots of love from India.
Outstanding work! well done and thank you for taking the time to share it with us!
These graphics are incredible!!!
One question - are you planning to reproduce this gear and build a robot out of it? This is absolute top-notch quality in designing and in video production. The ability to keep off-the-shelf components as the basis of a design and to make things affordable and achievable for young audiences is an under-appreciated and immensely valuable part of this. Please keep up these videos.
Not only awesome subject material but this is a tour de force of editing and animation, thanks so much for the huge effort!
Thanks for sharing such a beautiful mechanism
Fantastic job explaining everything and bringing everything together, CAD, 3D printing, Arduino, and mechanics. 👍🏻
This video is a absolute gem for me! it was clear, direct, w/ excellent examples. Thanks!
This is incredibly interesting and your presentation is phenomenal. Thank you!!!!
Harmonic drive, used to drive the wheels on the moon buggy. I first saw it on asea robots in the early 80s.
They are also used on the three Mars rovers
Great job explaining the Harmonic drive. I have been playing Cycloid drives for my little robot 3d printed project. Good fun and learned a lot. Thank you for sharing with us.
Thanks! I'm interested in trying Cycloidal drives as well.
I noticed you switched over from Solidworks to Fusion. What made you switch over? What do you like and don't like about the Fusion compared to SW? Anyways, amazing video and I learned something new from you! Please do more mechanical systems video! They're very interesting.
It may have to do with the gear generator plugins for Fusion, or the ease of assembly. I haven't used SW tho so not sure.
Beautifully-designed assembly. Well done. I noticed the outer gear case appears to be flexing as the unit operates at 15:32. I wonder if operation could be improved by increasing the wall thickness of the outer case to stiffen the structure supporting the outer gear teeth. It’s really a great project though.
Very nice project ... well explained and illustrated. THANK YOU
Many thanks!
A very nice model of this reduction gear with clear explanation of its construction and reliability. You've prompted users to report their experiences of similar reduction gears in a wide range of applications, which are interesting to read.
Best video on harmonic gears so far
Nice detailed description, really enjoyed it
Glad to hear it!
Oh by the way, the backlash is because the main housing is also flexing. A thicker wall on the housing would help.
THANK YOU I JUST LEARNED SOMETHING NEW. This is fantastic and for explaining the principle so well.
You explained this concept beautifully. Grateful to you.
Very good description and design.
For a more flexible part you can use PETG, i think the results would be much more predictible and more resistem than PLA
Thank you... thanks a lot..for making part of your engieering and build
Really enjoyed this video and learnt so much.
It must have been a lot of effort in printing those parts to such accuracy and perfection.
Wow! Thank you.
Such an impressive video!
Just the simulation was worth the watch.
Glad you enjoyed it!
What beautiful design. Always love seeing people who actually calibrate and set up their printer correctly and thus create such great parts. I wonder how the wave generator will hold up over time though; i have a bad feeling that the plastic will creep over time, or separate across layers as a result of variable sheer stresses.
Thanks! Yeah, I guess so, the plastic won't hold too much.
Well done video. I loved the thoughtful explanation and the design of the mechanism was well thought out. Thanks for taking the time to explain.
You should make the casing thicker, you can see in the video it deforming too
Yeah, that's correct.
Absolutely beautifully engineered! But shouldn’t you pack the inside with grease?
we are waiting for robotic projects using harmonic drives
thanks for explaining, it is helpful to understand Tesla Bot actuators.
A very satisfying result, I think. Well done! I can make most of this on my laser cutter - just need to think a bit about solving the flexible spline without a 3D printer. Thanks for the ideas, anyway!
Perhaps resin casting would be good solution for the flex spline?
@@rizalardiansyah4486 Thanks Rizal! Yes.
👍👍
2 thumbs up for you my friend for talking the time and for your patience for explaining it so well. I became a subscriber in just 1 video. Will explore your channel now and hope for more mechatronics & robotics related content in the near future
Thanks and welcome!
Really enjoyed theory and implementation
Glad to hear that!
I think there should be 3 different like buttons under these kind videos. "Like", "Like a lot" and "I am in love with this video" button. And we should have right to click all of them in the same time, many times and it should be counted as multiple feedback. Great video...
This is obvious that with that layout a flex spline must not have a solid body in order to move a stress deformation form a junction between walls and a plate upper to a middle of walls. Make windows there (free of a material), and this flex spline will remain flexible and will never break apart. This transforms a deformation form horizontal one (that breaks the spline) into a vertical one.
Wow.That's a lot of work.Good job.
Wait a second, that’s so simple! Thanks for showing the engineering behind the harmonic drive.
That's actually an incredible explanation of this drive. Thanks
Amazing. This was so fascinating to watch and it made perfect sense. You are incredibly intelligent.
This takes me right back to college.
Good work, Comrade. Let's do it, Tovarisch.
Very good video concept.
Your videos are excellent. Great projects and your explanations are very clear and concise.
Thank you!
Ever the best! .. I just can't wait to see what you will do with this harmonic drive in you future projects :)!
I built this gear from your work, thanks!
Nice to hear it!
Lovely! As a proof of concept it is great. That is all you accuracy you can get out of a 3d printer.
At least out of a hobby grade one!
Very true!
Congratulations! Perfect project. I'm going to build the same in a cnc mill. Out of steel.
Superb presentation, thanks!
Incredible effort and explenation.
Always wanted to see these gearboxes in action. Thank you for sharing!!
Thank you for this excellent explanation of the strain wave gear. This is starting to show up on Telescope mounts and I was curious to see how they worked. Beautiful 3D build too. I might build one of my own.
The housing is flexing along with the wave
Good explanation
Thanks for sharing your knowledge 👍
Great engineering! Excellent builder! Thank you.. Your amazing
Wow, I learned so much! Wish I had teachers like you in school way back when :-D
Excellent project. I liked it
Thank you! Cheers!
God, I'm so jealous of your technical skills and knowledge. I'm still a student now but I have hope to get as good as you one day. All my future goals depends on it :)
Go for it!
Very clear video. I have subscribed.
Thanks and welcome! :)
This is great. That was a great deal of work. I use the software on my iPad Pro, and it works very well. It’s very different from the Bentley Cad I’m used to. I did notice that it appears that some of the gear teeth touch when moving over one another. I attribute that to the usual sloppiness of inexpensive 3D printers. Possibly removing a fraction of a mm from the very tips of the teeth would solve that, as I can see a slight jump when that happens
That's pretty cool. Gonna print this tomorrow.
Really superb video. Thanks :)
great video, clearly explaining the gears. and sharing the step files, a huge shout out for that.
Glad you liked it!
This was a GREAT video, and probably the best explanation with visuals on how strain wave works!
How robust do you think it is? (Like Will it survive 50 hours, or 1000 hours of operation?) Maybe only the gears would need replacing?
Learned a new thing today....... thanks for your upload
Many thanks!!!
Мне кажется люфт из за слишком больших подшипников, было бы здорово попробовать более маленькие подшипники и чаще их поставить. Чтобы было больше похоже на оригинальную разработку.
I think problem is in big bearing, try to use smaller one.
Good chanal - thanks.
You did an awesome job explaining this!
Learn something new every day!
Fantastic design! Amazing ! Congratulations
Thank you very much!
Amazing! Thank you VERY much for sharing this build!