Strain Wave Gear Robotic Arm

Opposite of my assumption, the Tooth profile had nothing to do with the problem. It had to do with the height of the teeth. It seems there was not enough TPU to pull the rest of the FlexSpline along with it as it was flexed by the Wave Generator. I will Start my next Design with a 20mm FlexSpline Instead of 8mm

FlexSpline is not bending uniformly. Pops out of CircularSpline after roughly 180 degree input

First Assumption would be tooth profile, going to try pointy teeth

• Motor Drives 5:1 Planetary Gear
• Planetary Gear Output Drives Wave Generator Input
• 8mm FlexSpline Tooth Height to Save Space
• No Encoder yet, still undecided on what to do
• More Vents for the Motor to cool down

• Too much internal friction
• Optical Encoder Inaccurate
• Too Weak to Test Strength

Working on a new version of the Strain Wave Gear. Possible adding a Planetary Gear to drive the Wave Generator. Size will be an issue as this will take more space to achieve

• ODrive s1
• 90KV Motor
• 12 Individual Bearing Wave Generator
• Optical Disk Encoder