(40:1) 3D Printed Cycloid Gear Actuator Module V2

3d printed 40:1 Cycloid gear actuator module using Tarot 4008 (330kv) motor and MJ-VESC Circular Type Motor Controller Inside.

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This project introduces 3d printed cycloid gear actuator. The cycloid gear actuator is equipped with a VESC firmware-based motor controller, and the motor controller hardware has also been developed in my other projects ( This Ver2 Actuator have the gear rate of 40:1 and 0.5mm eccentricity. The motor used is a Tarot 4008 (330 kv) motor. The outer diameter is 60mm. Compared to Ver1 (, the overall size has been reduced while the gear ratio has been increased. Because Ver2 supports gear-housing only on one side, it allows continuous rotation than Ver1.

- First Run using MJ-VESC v0.1

- Load Test

- Comparison 40:1 (V2) and 27:1 (V1)

x-zip-compressed - 44.67 MB - 09/20/2019 at 07:23


  • 1 × Tarot 4008 (330kv) motor
  • 1 × 3D print parts
  • 1 × Bearing 12x18x4
  • 2 × Bearing 40x52x7
  • 2 × Bearing 15x24x5

View all 9 components

  • 1
    40:1 Cycloid Full Assembly Video

View all instructions

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SwannSchilling wrote 05/24/2020 at 17:43 point

Hey, I would like to build your project... how can I follow your design?

I would otherwise make a remix and use the O Drive, but if possible, I would like to follow your design! :)

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Dongil Choi wrote 05/25/2020 at 00:48 point

Thank you for your interest. I have uploaded 3D printing files, and you can follow the YouTube video for the assembly process. Regarding motor drivers, we're developing a small circular type driver, which would be good to refer to My motor driver is based on VESC firmware. About that you can check this paper ( I couldn't upload the progress often, but I made 0.5version recently and I'm testing it. I think we'll get the results soon.

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SwannSchilling wrote 05/25/2020 at 08:31 point

I really like the idea of your motor driver, and would like to make one, once the instructions are available!!

Thanks a lot for sharing!! :)

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nguyentaikhoa2611 wrote 11/10/2019 at 02:41 point


Your design is impresive! Can the actuators be backdriven? 

It is possible to calculate force sensing? (for example when a robot touches the ground after making a jump)

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