Robot Actuators

thingiverse

This is a collection of three distinct compound planetary gearboxes with compact designs perfect for assembling into robot arms. All three sizes utilize 38.4:1 compound planetary gearing and feature an integral slew bearing. The pancake configuration and convenient mounting surfaces make it simple to build your own robot arm by stacking the actuators just like the UR3 or Sawyer industrial robots. The largest actuator, designed for use with higher torque NEMA 17 stepper motors, is approximately 3.4" in diameter and uses 20 pitch helical gears. The medium-sized actuator, designed for smaller NEMA 17 steppers, measures about 2.4" in diameter and employs 30 pitch helical gears. The smallest actuator, approximately 2" in diameter, utilizes 40 pitch helical gears and is designed for use with 35mm "tin can" style steppers. Each gearbox has an integral slew bearing that uses 6mm plastic balls (airsoft BB's) to support the mounting surface for the next robot arm link. For those curious about the teaser photos of the robot arm, it can be viewed here: https://www.thingiverse.com/thing:3327968 UPDATE: CAD files for the different versions have been posted in parasolid format.