V2 Compound Cycloidal Reducer

Its here, Version 2 of the cycloidal reducer! All the hardware is the same from the original version, however every printed part has been redesigned! Here are the current improvements over the original:

• It is now easier to print and build!
• Now features a fully constrained main bearing, this improves the maximum load and reduces backlash.
• Mostly constrained cycloid, this reduces noise and increases the maximum load.
• The Onshape document has been vastly reworked for better editing workflow and a variable table has been added for common changes.
• And many more quality of live improvements!

Here is the Onshape document. Simply make a copy to edit the model! Don't use Onshape? No problem, I've included the .step file as well!

BOM

   The materials required to build this actuator are the same from version 1 - so if you made the first version, simply reprint the plastic parts and reassemble!

• 4x  M3x25 cap head bolts 
• 2x  10x15x4 bearings
• 1x  25x37x7 bearing

  For mounting the included test arm, use the following hardware: 

• 6x  M3 lock nuts 
• 6x  M3x18 (max, any longer will interfere with the cycloidal disk)

Please read the following notes:

Regarding the output: After a lot of testing, I've discovered the output is not linear, rather the output has an "sinusoidal" output -even if the motor is running at a constant rate. I believe this goes back to the inherent design of a compound cycloidal gear train. So, if your application requires a linear output, PLEASE don't waste your time and filament! With that said, the design is really great if you need a compact, high torque actuator!

Also the design has only really been tested with a “stepperonline” NEMA 17, other stepper motors should work, but I can't guarantee it.

Print settings

Supports

Only the "output shaft" needs supports! Everything else can be printed without them.

Infill/Perimeters

I'd recommend printing all the files with a high wall count (4+) and high infill (%60+)=

Materials 

The cycloidal disk should be printed in ASA/ABS or PETG. And, because of it's high stiffness, the test arm works really well when printed in PLA. All the other parts can be printed in PLA, PETG or ASA/ABS.

I will add the following information soon:

• cycloidal disks with differing thicknesses for reducing backlash.
• ect… I don't have much time at the moment, so this is just a published draft! :D