3d Printed Cycloidal Gearboxes new and upgraded

One new Cycloidal Gearbox and Three upgrades to existing designs
/ gouldpa00
www.thingivers...
hackaday.io/pr...
I found something very similar from Flynntastic pre-dating my stuff
• Internal Motor Cycloid...
• Internal Motor Cycloid...

[@radug9594]

@1:01 When your steppers break out the sax solo you know they mean business

[@Starkloader]

From a fellow mechatronics eng: amazing work as always and a great compilation of some of my favorite stuff on hackaday. Keep it up Paul!

[@PaulGouldRobotics]

Thanks. I'm nearly done with cycloidal gearboxes. Playing with Capstans now.

[@dasraiser]

@1:00 Aperture Science wants to know your location. oh and cool :)

[@PaulGouldRobotics]

Perth, Western Australia

[@PhG1961]

Awesome !

[@pedrokdc]

Great job! When will you be sharing the files for the Blushless Motor controller?

[@PaulGouldRobotics]

I need to do some new prototypes of the SAMD21 and ESP-32 boards. Once testing is complete the files will be released. Maybe 2-3 months.

[@RichardRamos]

Awesome work

[@SomeGuyInSandy]

So, I'm a complete noob, gathering tools. I have a good large format 3D printer, and am stocking up on hardware, but what is your source for the large diameter bearings? McMaster? PS, your designs are amazing, and I would like to try my hand at replicating one eventually!

[@PaulGouldRobotics]

I buy them locally for $$$. Search eBay Walmart , or Ali express for “6809 bearing”

[@TheLordbruh]

Congratulations Paul! very nice project! I was wondering if it could be applied in a robot arm like from the Jeff Kerr's model, which in the extreme part of it the joint would have a smaller bldc+gearbox. do you have any plan to lauch a video with the same gearbox in a robot arm?

[@PaulGouldRobotics]

I am still trying to find the ideal actuator design. I don't have plans for a robot arm right now. Robot arms require low backlash. It is very hard to achieve zero backlash with 3D printed Cycloidals.

[@mikhaillazutchenko2079]

Looks brilliant! Great job, many thanks!

[@uint16_t]

Beautiful design!

[@jasonjzliu]

Woah, this is awesome. I was wondering if you could provide the CAD files for the BLDC triple cycloidal drive that appeared at the end of the video?

[@PaulGouldRobotics]

The Inventor files are at github.com/gouldpa/Odd-Mech-Assemblies/blob/main/Triple%20cycloidal_brushless.zip Let me know if you require a different format.

[@jasonjzliu]

@@PaulGouldRobotics This is perfect, thanks!

[@jasonjzliu]

@@PaulGouldRoboticsCould you also tell me the dimensions of the shafts you used?

[@PaulGouldRobotics]

@@jasonjzliu 38mm x3dia max

[@DSMit777]

Hi @@PaulGouldRobotics , could I please request that you add STEP files for this actuator as well? I can't seem to open .ipj in Onshape. I would love to see how you managed to constrain the output stucture.

[@Arthurein]

Hi Paul! This is superb, thanks for the video! One quick question: I've built a few cycloidal gears and I have had to switch to traditional gearing in some projects because of friction during repeated use, which would melt all types of plastic shafts (including ABS). How did you deal with friction and heating? Thanks again!

[@PaulGouldRobotics]

Silicon Grease and light loads. Thinking about putting the bearings back in.

[@Dangineering]

Fantastic work as always Paul.

[@E4S65]

Love these designs

[@PaulGouldRobotics]

One more Cycloidal gearbox design and then onto capstans

[@OdinsTechAndGaming]

Incredible work :)

[@PaulGouldRobotics]

Thanks

[@JesseSchoch]

progress!

[@agzt29]

nice intro hahaha I bought some of the 6810 bearings you recommended me on aliexpress, but I'm struggling trying to find bigger bearings... where can I find like 10cm diameter bearing? is there a chart to look for the code names? sorry for bothering you keep up the good work!

[@PaulGouldRobotics]

The large bearings are 3D printed with 4.7mm steel balls. I can not find off the shelf large bearings other than a lazy susan.

[@agzt29]

@@PaulGouldRobotics ahh thanks!

[@ParsMaker]

nice work

[@falkgerbig7787]

The renowned sliding bearing manufacturer IGUS has special filaments with tribological properties that could be particularly suitable for hypocycloid disks: www.igus.co.uk/3d-print-material/3d-print-material

[@PaulGouldRobotics]

I will try IGUS filaments at some point. I'm not sure if the standard ender 3 will work with them though.

[@falkgerbig7787]

@@PaulGouldRobotics The processing is just as demanding as eg ABS. A closed case, less or no cooling, etc could help against warping. However, the cycloidal disks have a relatively simple geometry that the Ender 3 possibly could handle.

[@circuitdotlt]

what motor controller is that? Looks neat.

[@PaulGouldRobotics]

It is my own controller. I have a few different ones. hackaday.io/projects/hacker/313303 They are not as good as ODRIVE or MJBOTs but they suit my needs.

[@bibimbap222]

hello, i'm making my own cyclodial gearbox. but my gearbox does not backdrivable. do you have any comments to solve non-backdrive problem? i think high friction may be the reason, but i have no confidence on my answer. thank you.

[@bibimbap222]

and also, i'm wondering how to achieve good start up torque with bldc motor(i'm using bldc for RC cars). my motor is good enough when i runs fast, but it is poor when motor speed is low.

[@PaulGouldRobotics]

Chat to me on Instagram or hackaday.

[@bibimbap222]

@@PaulGouldRobotics oh i see, thank you

[@addisonwoods9367]

bring back the capstan differential!

[@PaulGouldRobotics]

I'll get to that one eventually.

[@mbunds]

Hi again Paul! I have built and tested the NEMA 17 version, which is going to serve as the shoulder joint for a robotic camera arm I am building. In fact, the entire arm (except the pivot) is built from your designs. I can't wait to finish it and show it off!

[@PaulGouldRobotics]

This is great. I would like to chat and see some photos of your work. Can you please chat to me on hackaday or Instagram.

[@fenderrexfender]

+1 90 degrees belt drive and you got yourself an open dog winner as you could stack 3 and power a full spot leg. Wondering if it would hold to the response timing needed for a canter... wish you would start testing its impact stats on camera.

[@PaulGouldRobotics]

Can you please send me an image of what you mean. I do some load tests on each design but none are tested thoroughly enough. I haven't found a design that I like well enough for extensive testing.

[@egs64]

Compact design, very nice. Was that a brushless at the end of the video?

[@PaulGouldRobotics]

ML5010 is used in two of these designs, Elite 5010 (green) and NEMA17 is the other one.

[@DerSolinski]

I love cyclodials, they are always a joy to watch wobbling along. They can also be very efficient when you put bearings everywhere so they are a complete "rolling" gearbox. Great job, as always.

[@PaulGouldRobotics]

I started with bearings everywhere and moved away from them. Now going back. Check out James' latest video.

[@DerSolinski]

@@PaulGouldRobotics James is the sort of guy who needs to make mistakes himself, not because he doesn't believe if you tell him more like to make his own experience and conclusions. One major gripe I have with him is that he always goes the bulky road. But that's just me being German 🤣 We get indoctrinated to be efficient in engineering classes since the automotive industry basically employs every fifth Citizen either direct or indirect.(Often in ways you don't even realize) And they are very keen on the "efficiently screwing the customer over" part. Thals the reason I drive a Lada, you can fix that thing with a Paperclip and duct tape like most Russian technology lol

[@34u90vutjwifjklSFJKJKSDjs9]

Hi Paul, where do you buy your bearings from? I'm hoping to find something affordable, but without the current shipping problems from China during the pandemic.

[@PaulGouldRobotics]

The big bearings are 3D printed with steel balls. I get the large bearings locally in Perth Australia from Apollo bearings and the small ones from plaig.com.au

[@34u90vutjwifjklSFJKJKSDjs9]

@@PaulGouldRobotics Thank you! Are you planning on replacing the 6809 bearings with a 3D printed design? Where I'm from a single 6809 goes for around $25, which jacks the price up considerably.

[@PaulGouldRobotics]

@@34u90vutjwifjklSFJKJKSDjs9 I get them for about US$3 online and US$10 locally. No, I will only replace bearings that I can't get buy at an affordable price. I have not been able to get 3D printed bearings perfect, yet. What country are you from?

[@PaulGouldRobotics]

@@34u90vutjwifjklSFJKJKSDjs9 You can chat to me on Instagram, discord or hackaday

[@34u90vutjwifjklSFJKJKSDjs9]

@@PaulGouldRobotics I live in Canada (Toronto. I'm not too familiar with local bearing suppliers, but I've only found $25 CAD for a single 6809. Where do you purchase yours online?

[@troylee4171]

Nice work!

[@infiniteoffset]

Amazing work!

[@PaulGouldRobotics]

Thanks