Cycloidal drives are mechanism used for amplifying torques from electric motors, they are mostly used for robotics application. You can read more about cycloidal drives on another post by clicking here.
In the zip files, you should see a total of 6 STL model: 1. Main Casing 2. Cycloidal Disk 3. Eccentric Nut 4. Torque Extract Plate 5. Torque Extract Pin 6. Top Cover
In addition, to complete this cycloidal drive you will need: 1. NEMA17 Stepper motor x 1 2. 8x16x5mm Ball Bearing (688) x 2 3. M3x8 screws x 9 4.Thrust Bearing (3552) 2mm x 1
This is so cool!
But why you using the stepper motor?
BLDC motor is better , with Arduino UNO + Arduino SimpleFOC Shield + AS5600 senser, you can do position control and speed control easily and cheap.
Hey Thanks. Hmm i only had experience with stepper motors. I am not sure if BLDC had enough holding torque tho. And cycloidal aren’t really that advantageous for high speed motor due to the vibration issues.
Awesome project.. May I know what are the pins you insert on the sides of main case? They look like a 2mm pins. What do I search in usual places for them?
Very cool… I plan on printing the parts to make one for demonstration purposes.
Can you please provide the dimensions of the pins arranged around the periphery of the main casing.
Some vibrations can be reduced by having 2 cycloidal disks at 180 degrees rotation from each other; both can drive the output shaft/(pins). To reduce root stress on the output pins (in case they are not supported on both ends) three discs can be used: the central one twice the mass of each of the outboard ones. The outboard disks are of course in the same orientation, 180 degrees from the inboard one.
17 comments
This is so cool!
But why you using the stepper motor?
BLDC motor is better , with Arduino UNO + Arduino SimpleFOC Shield + AS5600 senser, you can do position control and speed control easily and cheap.
Hey Thanks. Hmm i only had experience with stepper motors. I am not sure if BLDC had enough holding torque tho. And cycloidal aren’t really that advantageous for high speed motor due to the vibration issues.
Hi, is the dowel pins 3 x 8 mm ?
Thanks….
Hi Cheng, yes it is a 3 x 8 mm dowel pins. I have wrote a more complete tutorial on cycloidal drives, you can download the design files here https://www.ewhiteowls.com/2022/02/the-ultimate-guide-to-design-cycloidal-drives-the-beating-heart-of-robotic-arms/
Awesome project.. May I know what are the pins you insert on the sides of main case? They look like a 2mm pins. What do I search in usual places for them?
Hi, those pin are dowel pin with 3mm diameter and 8mm in length. I found them on banggood.com
Shouldn’t there be some pins on the parts list?
Hi Brian, yes you are right. I missed out the pins. I have wrote a more complete tutorial on cycloidal drives, you can download the design files here https://www.ewhiteowls.com/2022/02/the-ultimate-guide-to-design-cycloidal-drives-the-beating-heart-of-robotic-arms/
Very cool… I plan on printing the parts to make one for demonstration purposes.
Can you please provide the dimensions of the pins arranged around the periphery of the main casing.
… Adrian Jones
Hi Adrian, my bad for making you wait. I have wrote a more complete tutorial on cycloidal drives, you can download the design files here https://www.ewhiteowls.com/2022/02/the-ultimate-guide-to-design-cycloidal-drives-the-beating-heart-of-robotic-arms/
Some vibrations can be reduced by having 2 cycloidal disks at 180 degrees rotation from each other; both can drive the output shaft/(pins). To reduce root stress on the output pins (in case they are not supported on both ends) three discs can be used: the central one twice the mass of each of the outboard ones. The outboard disks are of course in the same orientation, 180 degrees from the inboard one.
Great works!
Hi Peng,
Thanks for your kind works. If you happen to be interested in cycloidal drive, I have wrote a more complete tutorial on cycloidal drives, you can download the design files here https://www.ewhiteowls.com/2022/02/the-ultimate-guide-to-design-cycloidal-drives-the-beating-heart-of-robotic-arms/
what are the small metal pieces you insert around the perimeter of the drive?
Hi Paul,
Those small metal pieces are dowel pins with diameter 3mm and length 8mm.
I have wrote a more complete tutorial on cycloidal drives, you can download the design files here https://www.ewhiteowls.com/2022/02/the-ultimate-guide-to-design-cycloidal-drives-the-beating-heart-of-robotic-arms/
Thanks for sharing, so much appreciated. Go try it out. With what filament material did you print it? and what torque measurement did you get?
Hi Mogamad,
I printed it with PLA. Havent had a chance to do torque measurement, it has been strong enough for my own applications in 6dof robotic arm.
I have wrote a more complete tutorial on cycloidal drives, you can download the design files here https://www.ewhiteowls.com/2022/02/the-ultimate-guide-to-design-cycloidal-drives-the-beating-heart-of-robotic-arms/
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