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Cycloidal Drive V2 (Patreon)

Published:
2021-03-22 10:00:19
Imported:
2026-06
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Content

Here's next week's video, early for Patrons. This one goes out publicly on Tuesday 30th. 

Pretty happy with this version - seems pretty robust so far. I'll be doing further testing on it and proper torque testing using an ODrive motor driver with an encoder etc in a future video, and also more resilience/toughness testing. For now it's all just PLA, but that could also change!

Files

Previews only

3D Printed Cycloidal Drive V2 - Much Better!

In my previous video I built a 3D Printed Cycloidal Drive which was relatively successful, although the cam snapped off under load and it vibrated a lot. This time I've balanced the drive by using two cycloidal discs 180' out of phase with each other. I've also made the cam shaft much thicker and robust by screwing an M4 bolt through the middle of it. This time it's much tougher, although we still need to do a lot of testing. Previous version: https://youtu.be/pWMB5VbLb6w You can support me on Patreon or buy my Merchandise: *************************** Patreon: https://www.patreon.com/xrobots Merchandise: https://teespring.com/stores/james-bruton *************************** Affiliate links - I will get some money of you use them to sign up or buy something: *************************** Matterhackers 3D printing supplies: http://www.matterhackers.com?aff=7500 Music for your YouTube videos: http://share.epidemicsound.com/xrobots *************************** Other socials: *************************** Instagram: https://www.instagram.com/xrobotsuk Facebook: https://www.facebook.com/xrobotsuk/ Twitter: https://twitter.com/xrobotsuk *************************** CAD and Code for my projects: https://github.com/XRobots Huge thanks to my Patrons, without whom my standard of living would drastically decline. Like, inside out-Farm Foods bag decline. Plus a very special shoutout to Lulzbot, Inc who keep me in LulzBot 3D printers and support me via Patreon. HARDWARE/SOFTWARE Below you can also find a lot of the typical tools, equipment and supplies used in my projects: Filament from: https://www.3dfuel.com/ Lulzbot 3D Printers: http://bit.ly/2Sj6nil Lincoln Electric Welder: https://bit.ly/2Rqhqos CNC Router: https://bit.ly/2QdsNjt Ryobi Tools: http://bit.ly/2RhArcD Axminster Micro Lathe: http://bit.ly/2Sj6eeN 3D Printer Filament: http://bit.ly/2PdcdUu Soldering Iron: http://bit.ly/2DrNWDR Vectric CNC Software: http://bit.ly/2zxpZqv Why not join my community, who are mostly made up of actual geniuses. There’s a Facebook group and everything: https://www.facebook.com/groups/287089964833488/ XROBOTS Former toy designer, current YouTube maker and general robotics, electrical and mechanical engineer, I’m a fan of doing it yourself and innovation by trial and error. My channel is where I share some of my useful and not-so-useful inventions, designs and maker advice. Iron Man is my go-to cosplay, and 3D printing can solve most issues - broken bolts, missing parts, world hunger, you name it. XRobots is the community around my content where you can get in touch, share tips and advice, and more build FAQs, schematics and designs are also available.

Comments

Anonymous

Wow, that's decent. A lot of bearings though. Will be interesting to see if your idea of using plastic bushings works, especially for a long term test. I wonder too if you could make the whole thing smaller and lighter by using a smaller motor, given that each one presumably only needs to lift a few kg.

XRobots
>>56096552

Yes the motors aren't available at the moment, so I may have to use 86mm motors, and then the whole thing can shrink - especially if I can use smaller bushings (like the spacers I used). Seems like it's heading in the right direction though.

Philip Brechler

Great work! Can you give a rough BOM and what do expect in terms of costs for one gearbox?

XRobots
>>56099168

I'll be publishing the CAD as a solid model - the bearing sizes are drawn in. The cost in bearings alone was around £130, so not that cheap - there will be further development as I commented around changing those for bushings.

Scott Cress

Awesome job James. Love the direction this is heading.

Thomas Messerschmidt

Brilliant design. I am always envious of people who make 3D CAD design look so easy. How long did it take to get comfortable with it? Did you take classes or figure it out on your own? Sometimes I feel the need to take some classes in 3d design. Still, I don’t have too much time left at the end of my day. I am still fighting to get ROS to talk to my Arduino. By the way, my fembot article is now in the latest Servo Magazine issue. With Hanson Robotics asking $80,000 USD for a Sophia, my Sophia-inspired robot will give people an option to build one for less than $2000 USD. Thanks for sharing your work. You are an inspiration to robot builders across the world!

Adarsha

Amazing work James.. Your cad skills and 3d printer tolerance is awesome. You should make a video on how you tune your 3d printers.. I can only imagine how many times I have to print to get that tight fit.

Anonymous

Would it be feasible to replace the larger bearings with 3D printed parts? You could integrate the raceways into your models and then insert balls during assembly. Or print-in-place nylon rollers.

Anonymous

Great work James, really loving the cycloidal gearbox videos (and the RuR series and Open Dog v2). A bit disappointed that you couldn't try it with the ODrive this time, although I'm sure we'll see that in the neat future :) . Wondering if that was because you needed more time to incorporate an encoder into the assembly ?

XRobots
>>56119697

Thanks Thomas, I started when I got a 3D printer in 2012, that was with Autodesk 123D Design which is now discontinued. I just learnt as I went really, trying to design the things I needed.

XRobots
>>56121677

Well there's still a bit of backlash in the mechanism and I generally have to drill my holes out ;-)

XRobots
>>56122955

Possibly, although they have to support the whole weight of a robot leg / the robot, so I'm not sure how well that would go in the long term.

XRobots
>>56165151

Next week is a Strain-weave reducer, and then after that I'll be testing both properly with an ODrive, plus some other resilience testing for the both all being well.

Andrew R Gross
>>56119697

Can you explain what the purpose is? How does one even make an AI female (or male for that matter)?

Andrew R Gross

Have you considered milling parts of this out of aluminum?

XRobots
>>56286744

Yes, but I'll be doing as many tests in PLA first, because if that works then it makes it really accessible, and then parts can be upgraded later for better durability.

Anonymous

I’m really impressed by this reducer.