3D-printed cycloidal drive

After college, I wanted to keep making robotics-based projects. Keep my mind fresh for the eventual grad return once I find my research inspiration.

I have always been interested in the unique gearboxes of harmonic drives and cycloidal drives found in industrial robotic wrists. Planetary gearboxes are cool and all, cheap and effective, but these assemblies can achieve way higher gear reductions and back drivability in a similar form factor.

This gearbox example comes from How to Mechatronics online guide where they provide a full assembly and parts list guide as well as 3d printed parts.

I followed along and plotted my own cycloidal disk profile. All parts printed from leftover ABS and PLA were sanded down because my printer tolerances were not as tight as I’d like it to be (good ol trusty OG Ender 3). I wasn’t going to put heavy loads on it so I used PLA for the disk just because my printer can create more accurate dimensions with it.

Assembly as expected. Turned out pretty cool and by the end had a neat paper weight. Perfectly back drivable as expected. Maybe someday I’ll return to this and use it for something