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(40:1) 3D Printed Cycloid Gear Actuator Module V2

3d printed 40:1 Cycloid gear actuator module using Tarot 4008 (330kv) motor and MJ-VESC Circular Type Motor Controller Inside.

dongil-choiDongil Choi
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This project introduces 3d printed cycloid gear actuator. The cycloid gear actuator is equipped with a VESC firmware-based motor controller, and the motor controller hardware has also been developed in my other projects (https://hackaday.io/project/167660-mj-vesc-circular-type-ver-03). This Ver2 Actuator have the gear rate of 40:1 and 0.5mm eccentricity. The motor used is a Tarot 4008 (330 kv) motor. The outer diameter is 60mm. Compared to Ver1 (https://hackaday.io/project/167657-3d-printed-cycloid-gear-actuator-module-v1-271), the overall size has been reduced while the gear ratio has been increased. Because Ver2 supports gear-housing only on one side, it allows continuous rotation than Ver1.

- First Run using MJ-VESC v0.1

- Load Test

- Comparison 40:1 (V2) and 27:1 (V1)

3d_print_cycloid_actuator_v2_190920.zip

x-zip-compressed - 44.67 MB - 09/20/2019 at 07:23

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  • 1 × Tarot 4008 (330kv) motor
  • 1 × 3D print parts
  • 1 × Bearing 12x18x4
  • 2 × Bearing 40x52x7
  • 2 × Bearing 15x24x5

View all 9 components

  • 1
    40:1 Cycloid Full Assembly Video

View all instructions

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Discussions

moses5407 wrote 05/23/2023 at 06:22 • point

Wonderful work! Were you able to calculate drive efficiency and/or backdrive load?

  Are you sure? yes | no

watesofw wrote 03/28/2021 at 14:52 • point

Love this gear idea. Can I embed this project in my content based blog that hosted on WordPress? You can see my gearsireview blog.

  Are you sure? yes | no

Jason Fu wrote 03/13/2021 at 23:10 • point

Awesome project and thanks for sharing the files! I am trying to 3D print the gearbox but run into issues with the rotors being too tight with the housing and not rotating freely. I wonder if ran into a similar issue and if so how did you solve it? 

  Are you sure? yes | no

twolf wrote 03/09/2021 at 10:29 • point

This is really great work ! It would be very helpful if you could offer STEP files of all 3D. 

  Are you sure? yes | no

SwannSchilling wrote 05/24/2020 at 17:43 • point

Hey, I would like to build your project... how can I follow your design?

I would otherwise make a remix and use the O Drive, but if possible, I would like to follow your design! :)

  Are you sure? yes | no

Dongil Choi wrote 05/25/2020 at 00:48 • point

Thank you for your interest. I have uploaded 3D printing files, and you can follow the YouTube video for the assembly process. Regarding motor drivers, we're developing a small circular type driver, which would be good to refer to https://hackaday.io/project/167660-mj-vesc-circular-type-ver-03. My motor driver is based on VESC firmware. About that you can check this paper (https://ieeexplore.ieee.org/document/8957033). I couldn't upload the progress often, but I made 0.5version recently and I'm testing it. I think we'll get the results soon.

  Are you sure? yes | no

SwannSchilling wrote 05/25/2020 at 08:31 • point

I really like the idea of your motor driver, and would like to make one, once the instructions are available!!

Thanks a lot for sharing!! :)

  Are you sure? yes | no

nguyentaikhoa2611 wrote 11/10/2019 at 02:41 • point

Hi,

Your design is impresive! Can the actuators be backdriven? 

It is possible to calculate force sensing? (for example when a robot touches the ground after making a jump)

  Are you sure? yes | no

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