Open CyRe Cycloidal Gearbox

thingiverse

Cycloidal 3D printable Hollow shaft 1:11 reducer with an integrated Encoder and an adjustable belt stage. This gearbox is used in axis 4, 5 and 6 of the Atlas 6 DOF 3-D printed universal robot. https://hackaday.io/project/168259-atlas-6dof-3d-printed-universal-robot This is a remix of the original Open CyRe created by Damian Lickindorf https://www.youtube.com/watch?v=xW5g_zA0YV0 In the video above you can see this gearbox used on the right, 5 axis of the Atlas 6DOF Robot **NOTE** I am currently printing and building this. STL files will change with the new parts. ##Bill of Materials (BOM) The BOM was modified from the original to accommodate ease of purchase through known online dealers in the United States. Some items come in bundles and you will have extras. Prices and total do not include shipping. **[Outer Shaft Bearing](https://www.amazon.com/gp/product/B07Z1MV5QY)** $7.99 x 1 = $7.99 **[Outer Pins](https://www.amazon.com/gp/product/B07Z1LVR9D)** $8.19 x 1 = $8.19 **[Ring Pin Bearings](https://www.amazon.com/gp/product/B07GC8WZVV)** $7.99 x 2 = $15.98 **[Belt GT2 212mm](https://www.mcmaster.com/7947K732/)** $6.09 x 1 = $6.09 **[Belt GT2 250mm](https://www.mcmaster.com/7947K737/)** $6.17 x 1 = $6.17 **[Bearing 25x32x4](https://www.amazon.com/gp/product/B082PSH7WX)** $7.59 x 2 = $15.18 **[Bushings 8x10x6](https://www.amazon.com/gp/product/B07SN3RBKW)** $6.49 x 2 = $12.98 **[Nema 17](https://www.amazon.com/Torque-Bipolar-Stepper-Motor-Extruder/dp/B00PNEQUZ2)** $20.99 x 1 = $20.99 **[ENC1j-28D](https://www.mouser.com/ProductDetail/Bourns/ENC1J-D28-L00256L)** $49.81 x 1 = $49.81 **[M2x30](https://www.mcmaster.com/91292A034/)** $8.95 x 1 = $8.95 **[M2 Nuts](https://www.mcmaster.com/90592A075/)** $1.59 x 1 = $1.59 **[Inner Pins](https://www.mcmaster.com/97042A146/)** $4.19 x 6 = $24.96 **[M3 Nuts](https://www.mcmaster.com/90592A085/)** $0.88 x 1 = $0.88 **[M4 Thin Nuts](https://www.mcmaster.com/90710A035/)** $5.28 x 1 = $5.28 **[M3x45](https://www.mcmaster.com/91292A025/)** $12.21 x 1 = $12.21 **[Steel Flat Screw](https://www.mcmaster.com/92125A126/)** $4.50 x 1 = $4.50 **[LV8729 Motor Driver](https://www.amazon.com/Oak-Pine-Printer-Stepper-Substrate-Heatsink/dp/B07S117SJF)** $15.99 x 1 = $15.99 **[Teensy 3.2](https://www.amazon.com/gp/product/B015QUPO5Y)** $25.83 x 1 = $25.83 ## Total $200.56 ##Printing Based on the exploded view all black parts are printed in PLA and all yellow parts are printed in PETG ##Assembly Coming soon, still modifying ##Code Coming soon still building Original Source: https://hackaday.io/project/168498-opencyre