Sunday, 3 March 2013

Harmonic Drive

Well as expected the first version of the drive failed the flex spline cracked.
Reasons for failure are
  • the bearing race is unreliable and dosen't run true causing the drive to miss steps
  • Flex spline the blue ABS is brittle will try with the yellow (its more elastic )
  • wave generator bearing were in fact only PLA bushes  they worked fine but the need to be 1mm taller

Next test will be with the new bearings


  1. hello peter could you put some video about your harmonic because i don't understand how he work
    me to i would like tu use a drill motor for my shoulder
    so nice job and thank you for ti show your work

  2. I don't have any video but the guy that made the original
    has some