Fully 3D Printed Cycloidal Actuator

Version 3 Complete

Version 1

This gearbox was a handcranked gearbox specifically meant to test the validity of the python cycloidal generator. It had a gear ratio of 1:9.

Version 2

This design was a micro cycloidal gearbox with a ratio of 1:9, meant to only take up the same footprint as a NEMA 17. Due to the tight tolerances needed for a small cycloidal drive and the lack of precision offered by 3D printing, this design did not work.

Version 3

This gearbox was the first working version to run on a NEMA 17. It has a larger footprint compared to Version 2 allowing greater tolerances and a fully functional design.

What is next

I now want to design and print a fully closed loop stepper controller PCB for a nema 17 stepper motor which I will work on in my next project.

I am currently thinking of using an:

Atiny44 as the mcu
An a4988 as the driver
An AS5600 as the encoder

MORE INFO CAN BE FOUND IN THE GITHUB ARTICLE