Harmonic drive

thingiverse

This is a tri-lobe harmonic drive (because why not ?)\nHere are the videos where I talk about it :https://www.youtube.com/watch?v=yehE7aFYUGUhttps://www.youtube.com/watch?v=ajxFor8MDcA\nThe complete package comes with its solidworks source. Also available on github, which is more likely to have the latest version : https://github.com/mtourne/mecha/tree/master/Harmonic%20drive\nEverything except the flexible cup is made out of PLA, flex cup is made out of flex PLA.\nThe flexible spline and circular spline are printed slowly to achieve a nice looking finish, with everything else printed at a moderate pace. The flex cup is 100% material, while the circ spline uses 75%, and everything else uses about 35%.\nThe slew bearing at the bottom (to keep the cup in place) utilizes 6mm bb gun balls. It's printed into four parts so each torus groove can be sanded for defects easily.\nThe motor that fits inside the drive shaft is a generic a2212 with a generic ESC controller, which I've flashed with simonK firmware to increase torque.\nI haven't tested this extensively yet, so it's unclear how long the flex cup will last under bending stress. I plan on creating another version out of nylon bridge for enhanced strength.