3D Printed Harmonic Drive

[Bart Dring]

Hey Folks,

I am working on a robot arm.  I want to try to print as much as possible as an additional challenge.  Here is a video of the 38:1 harmonic reduction drive.

 https://youtu.be/5wLx6SDCeyI

[Tom M]

Thats cool Bart...

Is that ninja flex for the flex ring?

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[Barton Dring]

Cheetah flex.  Same company, higher durometer.  I have some Semiflex on order to try.  You want the flex spline to be pretty stiff.

It prints like a dream.  It sticks like hell to the print bed, so I use unheated blue tape.  If I let it touch my PEI, it might never come off.

The housing is blue matt filament from Proto Pasta.  That stuff makes everything look great.

The bearing is a 6807 ZZ.  35mm x 47mm x 7mm.  They are a great and low cost big and thin bearing. 

On Mon, Dec 12, 2016 at 10:41 PM, Tom M <sak...@gmail.com> wrote:

Thats cool Bart...

Is that ninja flex for the flex ring?

On Mon, Dec 12, 2016 at 9:04 PM, Bart Dring <barton...@gmail.com> wrote:

Hey Folks,

I am working on a robot arm.  I want to try to print as much as possible as an additional challenge.  Here is a video of the 38:1 harmonic reduction drive.

 https://youtu.be/5wLx6SDCeyI

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Bart Dring

"If you did not build it, you will never own it"

[Tom M]

A bunch of us at w88 have been wanting to get a robot arm.   Printing  one out is way cooler.  Once we get our Sieg cnc running and I finish my mostly printed cnc, this could be a fun project to try.   Are you planning on  Open sourcing this?

Bart Dring

"If you did not build it, you will never own it"

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[Barton Dring]

I might open source it if it works OK.  The robot arm is going to look like a Kuka KR700 PA.  I chose that because it is very simple and looks Kuka cool.  It is a palletizer, so it only has 4 axes.  It might not be too useful.   It will be roughly 1/6th scale.  The real one can lift about 1500lbs.

The harmonic drives are perfect for the shoulder and elbow.

​

[Barton Dring]

The drive is on thingiverse now.

[Steve]

You guys know Milwaukee Makerspace is selling their kuka robot arm for scrap value right? its the arm and controller cabinate. email me  s pilon at gmail dot com

[Steve]

All,

The scrap value is $600, so we would need $600. I believe the pendent screen needs to be replaced but the unit is usable using a monitor. 

https://wiki.milwaukeemakerspace.org/equipment/kukakr30

[Steve]

What were you thinking about this? Just as a FYI the power requirement is 480 volts 3 phase but the amp draw is not that much, we always had a small transformer that followed the kuka around that just plugged into 220. Its 480 because factories are normally 480. As far as a base it is mounter on a steel frame that has removable outriggers. It does not need to be anchored down if your not doing the CRAZY fast moves. So whats the thoughts on this?

[Tom M]

That Bot is way bigger than what we're interested in.  we where thinking more desktop size.  I not urr what the market is for used bots, have you tried listing on a industrial site?  

I'm thinking after we button up are sieg project at W88, building a bot using Bart's harmonic drive might be a fun project... (Turn it into a ATC for tormach TTC?)

On Jan 17, 2017 12:42 AM, "Steve" <spi...@gmail.com> wrote:

What were you thinking about this? Just as a FYI the power requirement is 480 volts 3 phase but the amp draw is not that much, we always had a small transformer that followed the kuka around that just plugged into 220. Its 480 because factories are normally 480. As far as a base it is mounter on a steel frame that has removable outriggers. It does not need to be anchored down if your not doing the CRAZY fast moves. So whats the thoughts on this?

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[Steve]

Tom, 

There doesn't seem to be an aftermarket for this robot, its no longer factory supported so you cant call a service tech and have them at your business fixing it. Its a big robot, certainly not desktop size. If anyone changes their mind on here or wants it for their personal use or business(I would ask you throw in a couple more bucks then the $600 scrap value if your going to be making money with it in a business) the robot can be loaded and unloaded onto a car type trailer using a forklift which we have here in Milwaukee and moved around a facility using a pallet jack. 

Bart, good luck with your desktop robot build! How were you intending on programming this? 

[Steve]

Forgot to add, were prolly scrapping the Kuka out before February if we don't get any takers, so if anyone else sees this and is interested act now.