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3D printed BLDC servo with 30Nm torque ($60)

This is a high-torque yet affordable servo motor
including a low KV BLDC motor, 3d printed planetary gearbox, and BLDC driver

navid-sabetNavid sabet
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Hello everyone!
This is an open-source actuator designed for robotic propose. (low speed and high torque)
I've tried to make a robust actuator out of 3D-printed parts and a cheap BLDC motor with the purpose of accessibility to everyone around the world.
The main Idea behind this is to make an opensource quadruped dog robot

spec:
Max torque: Nm (tested!) for more torque you also can use the 8318 motor
Voltage :24V or 6S Lipo
Speed: 8 Rad/s
Weight: ~700 g
Gear ratio: 8:1
Cost: ~$60
License: Creative Commons Attribution - ShareAlike 4.0 International Public License

This thing comes with also open-source BLDC driver which you can find in the link below :

https://hackaday.io/project/188219-a-simple-bldc-driver-module-for-beginners

The gears are adopted from Open torque but I changed them slightly.

Outer gear.stl

Standard Tesselated Geometry - 1.88 MB - 03/14/2023 at 05:59

Download

Output shaft.stl

Standard Tesselated Geometry - 1.49 MB - 03/14/2023 at 05:59

Download

Bearing fixture.stl

Standard Tesselated Geometry - 730.06 kB - 03/14/2023 at 05:59

Download

Planet Gear.stl

Standard Tesselated Geometry - 1.65 MB - 03/14/2023 at 05:59

Download

Sun Gear.stl

Standard Tesselated Geometry - 1.68 MB - 03/14/2023 at 05:59

Download

View all 11 files

  • 1 × 8308 BLDC motor
  • 6 × M3*5*5 Insert nuts
  • 3 × 5*16*5 Bearings
  • 1 × 60*78*10 Thinwall bearing
  • 10 × M3*45 Screws

View all 11 components

View project log

  • 1
    3D printing parts

    For printing gears, I recommend using ABS or PC if it's possible. With 2mm skin and between 30 to 50 percent infill.

    For other parts, I personally used PLA with 25% infill and 2mm skin. PLA's elastic feature really helps the robustness of the structure.

  • 2
    Motor plate

    This part actually made out of a laser-cut aluminum sheet with 2mm thickness.

    You also can 3D-print it if you want, But!!!!!! it might be good enough for small torques. Although,  if you go higher than 3Nm you can see the plate start to stretch so you might want to increase the thickness.

  • 3
    Assembeling

View all 3 instructions

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Discussions

Jensen Gaither wrote 02/01/2023 at 17:18 • point

Hi Navid, is the actuator back drivable, or is the gear ratio too high?

  Are you sure? yes | no

Navid sabet wrote 02/02/2023 at 00:19 • point

Hello Jensen, The gear ratio is 8:1.

The motor is not coreless, so It gonna show cogging a little when It's off. But

despite that, It is back driveable. 

  Are you sure? yes | no

AmandaLILUCKY wrote 01/27/2023 at 13:53 • point

Hi, your project is very nice. I'm considering trying it out. I was wondering, You provides 2 files, one in .f3d and the other in .iges format. can you please provide both in fusion 360 format so I can have the design history? 

  Are you sure? yes | no

Navid sabet wrote 01/27/2023 at 15:25 • point

Hello Amanda, I've uploaded it. please check the files.

  Are you sure? yes | no

Dan Maloney wrote 01/26/2023 at 22:25 • point

This one looks pretty good, might even be worth a write-up for the blog. Looking forward to seeing more build information. Keep us posted!

  Are you sure? yes | no

Navid sabet wrote 01/27/2023 at 06:24 • point

Hi Dan. I'm glad that you liked it. I'll keep posting details. stay tune :)

  Are you sure? yes | no

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