Cycloidal 3D printable Hollow Saft 1:11 reducer with an integrated Encoder and an adjustable belt stage.

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Prints well with my i3mk3s, but be prepared to do a few attempts at the gears to get a perfect fit. I will post the BOM later, but it's included as the names of parts in the .stp. Prices of the parts will vary a lot, denpending where you buy. The places I was buying from are all in Polnad so won't probably be relevant for most of You.

I'm pretty sure you'll need to modify the way it's mounted for you won design. I just left some 'suggestions' for hole placements, feel free to delete these. I'm uploading a .stp and an .f3d.

I've developed this reducer to be used in my Atlas robot arm.

OpenCyRe - by Damian Lickindorf.f3d

fusion - 23.55 MB - 11/16/2019 at 17:13


OpenCyRe by Damian Lickindorf.step

step - 39.65 MB - 11/16/2019 at 17:11


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Rene wrote 02/24/2021 at 10:59 point

Hey Damian. Nice project! One question: Where to buy the inner pins?

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Thorsten K. wrote 02/01/2020 at 19:37 point

Do you have a BOM please?

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Doug R wrote 01/18/2020 at 01:57 point

Hey Damian. Great job on this. I am mining it for some ideas on a project with similar needs (massive gear reduction).

I know that you said you wouldn't post the CAD files because they aren't polished enough but I would urge you to reconsider. Work like that doesn't need to be perfect to be extremely valuable for the community. Just be clear about their state and see what people do with them.

Personally I would love to dive into some of the concepts you are using. I don't have any intention of building the full robot arm at this time but seeing how someone like you creates your designs always inspires new ideas.

The hacking and creating community isn't about perfection. It is about sharing your creative work out in the world to see what happens to it.

Don't let perfection win, it is a brutal enemy that never lets you free once it catches you.

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Info wrote 01/13/2020 at 05:52 point

do you have any plans to start designing and selling these on a case by case basis? Definitely interested for it’s camera applications. Not sure it could carry my red dragon though could it?

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Austin wrote 11/17/2019 at 05:47 point

Thank you for posting the files. This project is awesome! I look forward to learning how this drive works. Do you plan to post the CAD files for the 6 axis robotic arm in the future?

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Damian Lickindorf wrote 11/17/2019 at 11:24 point

Sorry, but i won't do that, that was my first project this size, it's not polished enough, and would be extrely hard for anyone to replicate, i don't want people investing this much time into something that contains so many mistakes. Mistakes that i just don't have time to go back and repair. I chose this peace of it as a fragment i can document well enough, that is pretty polished, and that i hope to maintain in a way that would allow others to benefit from. 

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Austin wrote 11/17/2019 at 18:40 point

I totally understand and thank you for explaining. I was just so excited when I came across your project as it had features I've seen on larger robotic arms. For example, the many gear reductions and the way the timing belts twist and turn in the wrist joint. 

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