A project log for 3D Printed Robot Joint with Active Compliance

A general purpose robot joint using a cycloidal gearbox and an ODrive modified to support active compliance

Tim WilkinsonTim Wilkinson 07/11/2019 at 21:271 Comment
While doing some testing last week, the joint I was experimenting with suddenly jammed up; it wouldn't move at all. Disassembling it I found this:I don't begin to understand where the load and stresses on this design are, but clearly there's quite a bit on the pins, and while they're made of metal, the cycloidal disks are just plastic. So this part needs to be reprinted with more infill and an increased number of perimeters. I originally just used 20% infill and 2 perimeters, so I'm going to up that to 50% and 6 and see how they new disks survive.


Paul Gould wrote 07/18/2019 at 15:34 point

How much load were you putting on the joint? Only 3 pins actually transfer the torque per gear. If you don't like bearings or bushing why not try larger diameter pins. eg 5-8mm.

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