Backdrivable Cycloidal Drive Robotic Actuator

grabcad

This is a 3D-printable cycloidal drive robotic actuator. It is backdrivable and has a 1:28 reduction. It has a triple cycloidal disc design and is driven by a 5010 BLDC motor.I have constructed a working prototype and I am currently in the process of fabricating the second iteration of this project. The CAD files contained in this repository are for the second iteration and I will update this repository with images/videos of the drive working in real life once I complete it.Bill of Materials:- 5010 BLDC motor- AS5600 magnetic encoder- 5 x 8 x 2.5 mm bearings- 14 x 8 x 4 mm bearings- 18 x 12 x 4 mm bearings- 27 x 20 x 4 mm bearings- 65 x 50 x 7 mm bearings- 5 mm M3- 20 mm M3- 30 mm M3- 40 mm M3- 50 mm M3- M3 nutThis project is in collaboration with Victor Zhang and is inspired by Paul Gould's cycloidal drive design (https://www.thingiverse.com/thing:4412347).