Andreas HoelldorferI'm still working on this project ;) but not I've not so much time.
Im currently working on a new version again with steppers (Nema24) and belt drives.
I also tried to make my own harmoic drive:
It didn't worked as I hoped and I spend a lot of time working on it until now but I will close this aproach.
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I spent $3k on designing a gear drive before I figured out it's a no go. My two-stage hypocycloidal reduction was losing so much efficiency (even milled in metal) that it would never work.
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Well the efficiency is kind of ok, but my harmonic drive was wobbling and jumping in the movement.
Next approach Nema24 stepper and 2 stage timing belts.
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