(8:1) 3D Printed Planetary Gear Actuator Module

Description

This project introduces 3d printed planetary gear actuator. The planetary gear actuator is equipped with a VESC firmware-based motor controller, and the motor controller hardware has also been developed in my other project (https://hackaday.io/project/167660-mj-vesc-circular-type-ver-03). The planet gears have the gear rate of 8:1 and the external diameter is 56mm. The motor used is a Tarot 4008 (330 kv) motor. The 1-stage 8:1 gear rate enables fast motion, good back-drivability and very little gear backlash. The gear design was done by 'Design Accelerator' in Autodesk Inventor. The gears has 14.5deg pressure angle and 25deg Helix angle. The ring gear has 70 teeth, planet gear has 30 teeth, and the sun gear has 10 teeth with gear module 0.65mm. The entire actuator module design file is 'mt4008_Act_Ver8.iam'.

Files

planet_gear_m0.65_T30.stl

This is correct file for planet gear.

Standard Tesselated Geometry - 1.80 MB - 01/06/2020 at 13:51

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3d_print_planetary_gear_190920.zip.001

001 - 45.00 MB - 09/20/2019 at 07:30

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3d_print_planetary_gear_190920.zip.002

002 - 32.47 MB - 09/20/2019 at 07:30

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Components

1 × Tarot 4008 (330kv) Motor

1 × Magnet 6x2.5mm (Diametrically Magnetized)

2 × Bearing 40x52x7 (6808zz)

3 × Pin Φ3 x 22mm (Misumi HPB-3X22-SUS)

1 × 3D Printed Parts

Project Logs

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IEEE ACCESS Paper published
Dongil Choi • 09/16/2020 at 05:19 • 0 comments

You can check it here;
https://ieeexplore.ieee.org/document/8957033
Actuator Repeatability Test
Dongil Choi • 10/11/2019 at 23:01 • 0 comments

Repeatability Test

The fully 3d printed 8:1 planetary geared actuator is controlled by mj-vesc(https://hackaday.io/project/167706-mj...). The precise position servo control is done by goto control mode(https://hackaday.io/project/167706-mj...). In this video, it shows the repeatability of single actuator. The result shows that it guarantees sub 0.01mm accuracy (standard deviation : 0.0058mm measured at 150mm from actuator center)