This is my fourth revision of 3D printing a strain wave gear (harmonic drive) with an integrated stepper motor (Nema 17). It is entirely 3D printable without the need of flex filament or support structures.

The primary goal of this project is to develop harmonic drive / BLDC based servo actuator that is suitable for use in automation applications where end point loads are under 5kg.

Apr 29, 2014 · Harmonic drives are very cool, they use a flexible spline on an eccentric bearing that wobbles inside another spline with a couple more teeth than the flexible one.

Aug 12, 2020 · This is a free time project to prove 3D printing is feasible for creating a harmonic drive gear, and use it for star tracking instead of needing to purchase one off the shelf.

Strain wave or harmonic drive gears are cool. As a cheap analog for metal or flex filament splined cup, try using timing belts.

Sep 20, 2022 · The hardest part to make for a harmonic drive is the actual flex gear and splines. I goofed around making cup style flex gears but those seem to fatigue really quickly.

It uses 5 NEMA-17 stepper motors with harmonic drives on 3 of the axes. These don't have encoders and are prone to slipping, so we build our own optical encoders mounted on the axes themselves.

Sep 25, 2025 · <p>Before trying to get autonomous navigation working on my rover, I decide to simulate it. Turns out that the recommended version of ros2 for ubuntu 24.04 is ros2 jazzy. And the …

Apr 10, 2017 · The circuit is based on the ideas from the Harmonic Sweetener, but it uses only a single opamp package, and furthermore all the filters are tunable. The effect is built inside a 1590BB …

Feb 4, 2020 · This project shows the build of a 150mm DIY 4th axis (based on a harmonic drive reduction) with an electromagnetic disk brake.