3D-printable high torque strain wave gearbox - harmonic drive

Video can be found here: Most up-to-date STL and Editable Fusion 360 source files can be found here: https://bbprojects.technology/collections/stl-fusion-360-source-files/products/3d-printable-high-torque-strain-wave-gearbox-harmonic-drive More info, schematics, parts list, etc... can be found here: https://hackaday.io/project/187309-3d-printable-strain-wave-gearbox-harmonic-drive I was fascinated by this type of gearbox and always wanted to make one. This type of gearbox is one of the most used in industrial robots. This type of gearbox only has a single reduction (in this case 2 because of the belt reduction) with a very high reduction ratio. Because of the single stage reduction there's almost no tolerance/play between input and output shaft. Conventional gearboxes use more gears to achieve the same reduction ratio, the tolerances between the gears add up resulting in greater tolerances/play between the input and output shaft. Here are some specifications of the gearbox: Max tested torque at 12V: 41.3kg*cm or 4N*m Total reduction ratio = 54:1 Big thank you to PCBWay for sponsoring this project. Due a price drop in raw materials, PCBWay can now provide PCB's at a reduced price. Use my referral link to get a 5$ discount when you sing up as a new user: https://www.pcbway.com/setinvite.aspx?inviteid=586251 Tools and materials I'm using can be found here: https://bbprojects.technology/pages/tools-and-materials Feel free to take a look at my other designs: Delta belt 3D-printer for automated series production: https://www.thingiverse.com/thing:5387221 Turning 50 cent into a Bitcoin: https://www.thingiverse.com/thing:4705186 3D printable antweight battlebot: Bulldog: https://www.thingiverse.com/thing:4623536 SpaceX inspired edf rocket: https://www.thingiverse.com/thing:4606751 3D printed high torque servo/gearbox version 2: https://www.thingiverse.com/thing:4547703 UMC - Universal motion controller: https://www.thingiverse.com/thing:4245315 3D-printable Davinci catapult gift card: https://www.thingiverse.com/thing:4067668 Arduino controlled photogrammetry 3D-scanner: https://www.thingiverse.com/thing:3958326 Fully 3D-printable turntable: https://www.thingiverse.com/thing:3723618 RC FPV tank rover: https://www.thingiverse.com/thing:3587738 Fully 3D-printable wind-up car gift card: https://bbprojects.technology/collections/stl-fusion-360-source-files/products/fully-3d-printable-wind-up-car-gift-card-files 3D-printable High torque servo/gear reduction: https://www.thingiverse.com/thing:3292860 'BOOM box' high voltage capacitor bank case: https://www.thingiverse.com/thing:2980012 Subby the interactive youtube subscriber robot: https://www.thingiverse.com/thing:2928254 robot hand || bionic hand prosthesis prototype: https://www.thingiverse.com/thing:2838239 3D-printable linear actuator: https://www.thingiverse.com/thing:2783959 Mini 3D-printable crossbow: https://www.thingiverse.com/thing:2710472 8 legged spider robot: https://www.thingiverse.com/thing:2470882 best 3D-printable bearing: https://www.thingiverse.com/thing:2349065 Have a nice day!