EMC2 Bipedal Robot Joint - 53.6 Gear Ratio

thingiverse

EMC2 Bipedal Robot Joint / Compound Planetary Gearbox. Ring Gears Are All Replaceable and Can Be Fitted by Filing Down Tabs. Bevel Gears and Concept Created by Richard Ramos. Specifications: - Gearbox Ratio: 53.6 to 1 - Dual Gearbox Ratio: 107.2 to 1 - Planet Gear Teeth: 17-15 - Sun Gear Teeth: 15-17 - Ring Gear Teeth: 50 - Driven Gear Teeth: 48 - Motor Shaft Compatibility: Nema 23 - Screws: M3 25mm Use Washers Between the Bearing and 48-Ring-Gear-Holder to Avoid Excessive Friction. Print Bearings with a Horizontal Expansion of at Least -0.1 or -0.2, Preferably -0.2 for Most Cheap Printers. To-Do List: - Replace 3D Printed Needle Bearings with Similarly Sized 4.5mm Steel BB Ball Bearings - Add 4.5mm Ball Bearings to the Neck of the 15 Sun - 24 Bevel - 15 Sun Gear Joint, Held in Place by the Centre Ring - Add 4.5mm Ball Bearings to the Neck of the 12 Bevel Gear, Held in Place by the Opening of the Centre Ring - Replace the 24 Bevel Gear with a 31 Bevel Gear, Requiring Widenning of the Centre Ring Use an STM32F103 Module to Run Stepper Motors at 1/4 - 1/8 Microstepping While Quadrupling Maximum Speed and Minimizing Noise. Integrate Limit Switches at Bearings for Homing/Position-Reset Capability. The STM32F103 Allows Higher Speeds at High Microsteps, Making it Possible to Use Stepper Motors as a BLDC Replacement with Almost Zero Noise. This is Because the Arduino Nano's Processing Power Limits Steps Produced, While the STM32 Uses an ARM Cortex-M3 Microprocessor. Don't Waste Money on Fancy Stepper Drivers Claiming to be Silent; They Still Require High Microsteps for Minimal Noise. Stepper Motors are at Least 3-5 Times Cheaper than BLDC Motors and Get the Job Done. DC Motors Are Another Possibility, But Then You'll Need to Integrate Rotary Encoders and Use Higher Gear Ratios, Reducing Life Expectancy of Fragile 3D Printed Gears. In Conclusion: Stepper Motors are the Best Choice.