Building an Internal Cycloidal Robotic Actuator

[@danielf3623]

James Bruton made a very similar cycloidal gearbox for his OpenDog v3 platform, there may be some lessons in his video to help. Looks like the big difference with his is a second bearing race to keep the output centered, which should help reduce the rubbing and increase the resistance to bending torque. Right now any load that would bend the axle is only being resisted by a single bearing race. Putting any leg on the output would induce a bending moment that would almost certainly crash the rotor into the stator even if you get it otherwise centered. The good news is with this design you don't need the giant race James had, you can just put a small race on the other end of the central shaft, with some spokes to the housing.

[@Koshiro_Robot_Creator]

Thank you for the advice! Comparing my design with James Bruton’s is incredibly insightful. By "double bearing race," you mean supporting the central shaft at both ends of the actuator, right? Although it’s not visible in the video, my design also has bearings positioned at both ends. However, in this version, I didn’t use a press-fit for the bearings, which made it difficult to properly support the shaft. Additionally, the central shaft was split into multiple parts and fixed with M2 screws. This caused distortion, especially at the connection points with the rotor. For the next design, I’m planning to create the rotor and central shaft as a single, unified part while also implementing the eccentric shape. I believe this will be the key to improving the design.

[@PhG1961]

Excellent! Awesome! Great! I'm looking out for the next video!!!

[@MSP_TechLab]

7:20 if you have a 3d printer, you can easily design some rig to hold a motor while it is assembled. So, you will not have a problem with falling out screws.

[@mitsync]

Looks great, neat design with the cycloidal drive inside the stator! In my armchair-based opinion I think you only need to redesign the shaft, the other components fit together nicely and the rotor is just rotating off-center. Maybe use a stronger material? Also, please wash your hands before recording shots, it looks like you just killed someone😂

[@Koshiro_Robot_Creator]

Thank you for the idea! I’ll look into various options for the next shaft design. By the way, my hands are red because I tried painting the rotor, but the material repelled the paint, so I had to remove it!

[@remainsmemories626]

6:03 but where did you get the stator?

[@Koshiro_Robot_Creator]

I got it from this link: ja.aliexpress.com/item/1005006900528465.html?spm=a2g0o.order_list.order_list_main.5.4283585arTQRFd&gatewayAdapt=glo2jpn.

[@Hukkinen]

Good work. Thank you for sharing even though it wasn't perfectly centered yet. Important work. Looking forward to the next iteration. Where did you get the stator? - I hope some day there will be a parts list, kit, or order-ready manufacturing whatnot from some provider; and not too expensive. :)

[@Koshiro_Robot_Creator]

Thank you so much for your kind words and interest in my work. I purchased the stator from the following link: ja.aliexpress.com/item/1005006900528465.html?spm=a2g0o.order_list.order_list_main.5.4283585arTQRFd&gatewayAdapt=glo2jpn Additionally, you can find links to other parts in the BOM on my GitHub page. I hope it proves helpful for your reference!

[@TazerEngineering]

cool!

[@puntloosPD]

nice man

[@pranavasai4655]

Thank you

[@201crunt6]

Thanks man im subscribed Are you going to dive in to Isaac sim?

[@Koshiro_Robot_Creator]

Thank you for subscribing! I haven't decided yet if I'll use Isaac Sim, but I want to try simulation and machine learning as part of this quadruped robot project.

[@Yakroo108]

👍👍👍

[@jotham123]

Nice vid, but would be cooler to hear your voice rather than AI narration.

[@jc84com]

Based on his fusion screen/other videso its not English, likely does not speak fluent English to appeal to a western audience and or is heavily accented and hard to understand. Either way the AI transcript and voice over is very clear and easy to understand as a English speaker.

[@sasdasu00dfsdfardo]

big if true

Interesting to see J.L.C.P.C.B/3.D.P sponsoring many channels using AI-generated voices, their brand name is almost always spelled the same way.

[@StephenRemde]

C.a.d. files

[@Positive_Altitude]

In many cases, people use AI voice just because they don't speak English or think that their accent is pretty bad. I decided to not use AI voice for my videos and now sometimes get mean comments about my Russian accent :P