Harmonic Drive Strain Wave Gearbox

This was a learning project for me that I will be updating as I make it more useful.

This is a ~50:1 gear ratio with the flex spline having 90 teeth and the output casing having 88 teeth. The cool thing about these gearboxes is that they are not backdriveable and have near backlash.

You will need a few things to assemble the components.

4X M3 x 0.5 mm Thread, 6 mm Long
1X M2 x 0.4 mm Thread, 12 mm Long
1X M2 x 0.40 mm Thread Thin Hex Nut
2X 8mm x 22mm x7mm bearings

For the wiring and test code I used the Sparkfun Easy Driver setup guide.

Print instructions

I had good results using prusament petg.

You need to print two of the cam halves and two of the taper pins.