Tim Wilkinson
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.Failure!
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
Discussions
Become a Hackaday.io Member
Create an account to leave a comment. Already have an account? Log In.
I don't believe the cracked cycloidal disk has much to do with any load.
It almost certainly is because of the hole for the bearing in the center was too small, and pressing it in causes permanent stress in the cycloidal disk.
The big hint is the wide gap in the crack.
That gap shows how much the plastic was stretched when the bearing was pressed in.
Are you sure? yes | no
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.
Are you sure? yes | no