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(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 (https://hackaday.io/project/167660-mj-vesc-circular-type-ver-03). 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 (https://hackaday.io/project/167657-3d-printed-cycloid-gear-actuator-module-v1-271), 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

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  • 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

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

Hi,

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)

  Are you sure? yes | no

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