Multi stage radial tandem harmonic gear box

grabcad

Please review the attached Report and video for a comprehensive explanation of this submission.In summary:This is an optimized 2-stage harmonic transmission system, featuring no roller bearings.The friction reduction is achieved by applying antifriction paint to all mating sliding surfaces, eliminating the need for classic lubrication and maintenance.The gearbox design minimizes component count by assigning multiple functions to each part, resulting in a final assembly consisting of only seven parts.First stage achieves a 1:28 reduction, while second stage offers a 1:27 ratio.Combined reduction is 1:756.Efficiency estimates range from 80% to 90% for individual stages and 64% to 81% for the combined system.Output torque spans 20,320 mNm to 25,700 mNm at 1 rpm.The design does not require exotic manufacturing techniques and features a straightforward assembly process along the Z-axis.Please examine the attached PDF design report for additional details, including component drawings.P.S.Noted in the video animation is a glitch depicting first flexishaft rotation; however, this represents a traveling wave, not actual rotation.First stage flexishaft remains stationary.Second flexishaft shows a similar line, indicating a generated traveling wave.The rotation of the second flexishaft can be observed by examining the golden-colored teeth on top, which rotate slowly as intended.These CAD glitches, although unavoidable, reveal interesting characteristics and are considered fortunate.