3D Printed
2020/07/04 categories:3D Printer| tags:3D Printer| robot_joint|
I wanted to make a 6-axis robot with a 3D printer, so I modeled an actuator for joints. However, it will be uploaded as a dead work.
![](https://ymt-lab.com//images/post/3d-printed-harmonic-robot-joint-01.png)
Sectional view
The cross section is as follows. The load applied to the joint is received by the two 3D-printed 4-point contact bearings mounted on the outermost side. One of these is a wave gear flex spline attached to the inner ring to drive the shaft. The other is used to support the wave generator and the output shaft.
![](https://ymt-lab.com//images/post/3d-printed-harmonic-robot-joint-02.png)
The wave generator of the wave gear is supported by 6805ZZ bearings. Furthermore, the wave generator is equipped with a timing pulley for drive transmission, and the structure is such that the drive of the motor is transmitted via a timing belt. The motor used is assumed to be NEMA17.
![](https://ymt-lab.com//images/post/3d-printed-harmonic-robot-joint-03.png)
Bearing fixing
The inner and outer rings of the bearing are fixed using a locknut made with a 3D printer. Tighten the locknut using a 3D printed locknut tightening jig and a hex wrench.
![](https://ymt-lab.com//images/post/3d-printed-harmonic-robot-joint-04.png)
![](https://ymt-lab.com//images/post/3d-printed-harmonic-robot-joint-05.png)
Multi-axis
Since the connection inner diameter of the joint body and the connection inner diameter of the output shaft are the same, multi-axis is possible.
![](https://ymt-lab.com//images/post/3d-printed-harmonic-robot-joint-06.png)
By connecting these robot joints, it is possible to configure a vertical articulated robot.
![](https://ymt-lab.com//images/post/3d-printed-harmonic-robot-joint-07.png)
The wreckage I tried to make
![](https://ymt-lab.com//images/post/3d-printed-harmonic-robot-joint-08.png)
![](https://ymt-lab.com//images/post/3d-printed-harmonic-robot-joint-09.png)
3D Model
STEP file of assembly
STL Files
CIRCULAR_SPLINE_T102.stl
DownloadFLEX_SPLINE_T100.stl
DownloadJOINT_BODY.stl
DownloadJOINT_STAY.stl
DownloadWAVE_GENERATOR.stl
Download