I Built an Internal Cycloidal Robotic Actuator

[ericlotze]

A Robotic Actuator of This Quality *and it’s Open Source*?!? Absolute *LEGEND*.

[ralphzogheib]

A+ for the sense of humor... A++ for adding fails... A+++ for perseverance! Keep up the good work!

[TR-qttf]

Love a guy who hits a wall or the same wall and never stops moving towards their goal. Can't wait for more.

[dorjedriftwood]

Dude you are an absolute legend. Thank you so much for posting your fails. Showing my students that failure is part of the process is so hard to get when people hide there mistakes because internet narcissism or plain old human shame. I loved seeing your try fail cycle and you triumph by keeping the effort moving forward.

[itsbenreel]

When you pulled apart the copper for a second time I just wanted to give you a hug lol. I’ve had to start over on my unreal engine plugin multiple times and the excitement/frustration is very real. At least in my case, it’s literally just code and not physical labor haha. This is such a cool project, thank you for sharing it!

[DerSolinski]

Great video!
A small side note, one thing to keep in mind when using cheap rare earth magnets: Buy in bulk, more than you need!
Their Tesla field strength is all over the place, if you want to build high efficiency motors you need to measure and sort those to find similar Tesla strength.
If you don't do that you can introduce nasty harmonics confusing your motor driver.

[excitedbox]

To wind a motor coil use a long dull tip syringe tip mounted to a pen shaft. It allows you to "place" the wire between the slots where your fingers don't fit. Try bending it to different shapes if you need. Long sowing needles eyelet bent to a hook could also be used. Ideally, you want to fasten the stator to a fixture so you can use a second hook tool to pull loops into position with one hand while guiding/"paying out" the wire with the syringe tip or needle in the other.

[philxcskier]

That’s so cool! When I was in school for mechanical engineering, there was a single mechatronics elective available only every 2 years- and it filled up in less than 10 seconds after registration opened.. needless to say I didn’t get in. I’m now hopeful that I can learn a lot about robot design on my own time from open source projects like the ones on your project! Thanks for making this available for people like me to tinker with and learn- it’s really awesome

[deshazo_henry]

It feels like I've seen a lot of videos of these 3D printed gearboxes lately but this is the first one with this production value I've seen well done

[bobweiram]

I've watched thousands of build videos and I've never felt this intimidated.

[bees]

Making content this smart without making the audience feel stupid is no easy feat. This is so cool.

[cvasold]

Nice job. Thanks for showing the attempts that didn't work. Watching you trials made me appreciate the simplicity of the harmonic drive.

[milkrecu]

A next generation Jeremy Fielding. Great details ( complete w/ miss steps), theory and documentation. Thank you and please keep up the good work.

[DeLetSHift]

Man, you talk about all our problems so calm
I believe, I would have given up several times. But this is a great example

[noahboursier]

Hitting it with a hammer and ".9 inches is more than enough" had me rolling.

[fabianmuhlberger]

Internal Wobbler dive - pretty good name!
TY for showing the iterative process, and also the mistakes you made! Amazing work! It is also pretty cool that we live in an era where we can go from printed prototype to machined part as an Individual without a big company.
Pro tip: if you have friction fit metal parts, temperature differences are your best option. Put one in the freezer and one in the oven and chances are, they will fit together. ;)

[garbageman]

such amazing production quality, simple and easy to understand yet somehow explains more in such a short time than anywhere else on the internet. awesome idea as well and just amazing video overall. not even 4 minutes in and you definitely deserve a sub!

[subtlethingsinlife]

This is by far my best video ever, I am so so impressed. I am a novice but I can see the amount of effort put in.

[googleyoutubechannel]

Quality man, your range of engineering skills is enviable, might not beat the MIT cheetah motor, but that was like teams of phds, this is super impressive for one person iterating on a design.

[ChrisLocke]

very impressive - probably the best DIY actuator motor I've seen yet! Top Kudos to You!!!!