What is Strain Wave Gear a.k.a. Harmonic Drive? A Perfect Gear Set For Robotics Applications!?
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- เผยแพร่เมื่อ 17 มิ.ย. 2020
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In this tutorial we will learn what is Strain Wave Gear, also known as Harmonic Drive.
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I hope you enjoyed this video and learned something new! If you'd like to support me making more content like this, please consider supporting me on Patreon: www.patreon.com/howtomechatronics
always best ideas, you can introduce with your Scara robot?
Please stop talking with a Russian accent
10:20 yoooo he said it!
It’s 2 am I need sleep
The file is being downloaded, but it is corrupted.
No words can be said to explain how your overall effort and metodology contribute to the world of engineering in a clear and precise way. You are the true example of a leader who add value to the things that surround him.
Engineering at its finest!
Thank you so very much! These words are so motivating!
@@HowToMechatronics where are you from actually? I don't understand your accent.
@@jien2550 Most likely eastern europe or nordic countries
I love it. I'm building a 2 legged robot on my channel. Check it out and let me know what you think, thanks.
Зун
That's a great bit of engineering..... Things went together beautifully....really enjoyed watching that, thanks for uploading...
Thanks, glad you enjoyed it!
yeah it was designed so well!
Ditto, very envious of your set-up and capabilities, well done
A CRAP load of engineering. I would like to know how many iterations it took since he made so many modifications to adapt to 3D printing.
@@huvrr1 For simpler projects I designed took me dozens of iterations, design corrections, printer settings corrections, material temperature corections, untill I finally got some decent result, than again , and again, untill it worked flawlesly (which is not perfect, but close enough), so I would't be surprisedf if he say some number in the tune of ... hundreds.
Outstanding work! well done and thank you for taking the time to share it with us!
Spiffy! I took a Mechetronics class recently as part of my BSME, and it interested me so much by the end of it that I plan on taking another Mechetronics class as an elective down the road. I'll be following your channel closely!
Not only awesome subject material but this is a tour de force of editing and animation, thanks so much for the huge effort!
Well done video. I loved the thoughtful explanation and the design of the mechanism was well thought out. Thanks for taking the time to explain.
That drive mechanism is absolutely genius! Love it, weirdly haven't heard about it before. Tickled my mechanical engineering itch so good...
Always wanted to see these gearboxes in action. Thank you for sharing!!
Very well explained in a clear and and concise fashion (finally!). Thank you very much.
Did you notice that after you applied the tape (video mark 15:00 ) the outer housing was flexing quite a lot. This is a very interesting set up that allows better than worm gear ratios concentrically. Remarkable!
Really appreciate the massive efforts that must have gone into creating this one!!
Really enjoyed this video and learnt so much.
It must have been a lot of effort in printing those parts to such accuracy and perfection.
This is incredibly interesting and your presentation is phenomenal. Thank you!!!!
This video is a absolute gem for me! it was clear, direct, w/ excellent examples. Thanks!
Amazing. This was so fascinating to watch and it made perfect sense. You are incredibly intelligent.
THANK YOU I JUST LEARNED SOMETHING NEW. This is fantastic and for explaining the principle so well.
You explained this concept beautifully. Grateful to you.
That's actually an incredible explanation of this drive. Thanks
Thank you for this excellent explanation of the strain wave gear. This is starting to show up on Telescope mounts and I was curious to see how they worked. Beautiful 3D build too. I might build one of my own.
That's amazing that you can make this with a 3d printer.
I'm in the middle of building my own 3d printer and will definitely try making this once I've learnt how my printer works
Fantastic job explaining everything and bringing everything together, CAD, 3D printing, Arduino, and mechanics. 👍🏻
Ever the best! .. I just can't wait to see what you will do with this harmonic drive in you future projects :)!
You did an awesome job explaining this!
Great job explaining the Harmonic drive. I have been playing Cycloid drives for my little robot 3d printed project. Good fun and learned a lot. Thank you for sharing with us.
Thanks! I'm interested in trying Cycloidal drives as well.
CraftWare slicer has the same parameter like the Horizontal Expansion, but it is called Vertical Shell Offset and I usually set it to 0.07mm for the best results.
Thank you for the nice video! Good explanation!
10:20 Deeeez nutz!
11:02
came looking for this as soon as i heard it.
Got'em
Deeeez teeth lol
Image him teaching his kid to say teeth
But for realz good video.
Amazing! Thank you VERY much for sharing this build!
Thank you so much! Im fairly new to CNC and thinking of adding a 4th rotary axis to my AVID Pro 4848.Thanks to your Video I now totally understand the mechanics of a Harmonic drive system... OUTSTANDING!!!!!
THE MOST INFORMATIVE VIDEO ABOUT HARMONIC DRIVE!!! Excellent work!!!
That is amazing. Making my minds eye flash images of a new type of generator
WOW! This is inarguable the BEST video on the HPR motor. Thanks!
Thank you... thanks a lot..for making part of your engieering and build
I kept saying ‘beautiful’ at the screen. What a nice technology and excellent example!
If you attach a precision encoder or resolver to the input and output and graph the relationships you will find that harmonic drives have some weird nonlinearities. We were trying to use them for some very high precision robotics applications in the 90s and this gave us big headaches!
What kind of nonlinearities?
do you think there are the same problems today almost 30 years later?
@@EmGi_ sine waves! I believe it's inherent. Maybe the boffins have found a fix?
How did you work around the issue? Just a nightmarish transfer function?
Posting in this thread for when someone posts the solutions for this
That’s just beautiful design and construction. I am in awe!
I had some questions about the design of the flexspline, but while I was typing them the necessary tradeoffs became apparent. Beautiful design choice with the bearings. Regarding the tape helping, maybe considering the bearings as forming an octagon (were there 8?) rather than an ellipse would suit better. Yes, I know, the teeth still need to mesh.
Great engineering! Excellent builder! Thank you.. Your amazing
wow, phenomenal video..so glad I found you and subd...looking forward to making that one day
awesome model man! it's better than my models and I'm obsessive af about making them perfect
now I really want to make a robot arm
This is a super explanation and great project 👍
Informative video and interesting build with nice attention to details.
Thank you!
Thank you too!
That was fantastic. I now understand both the basics of a Strain Wave Gear Drive as well as the inherent complexities of making a specific size drive with little to no backlash. No wonder they're so freaking expensive. Of course, I have to build this now. thanks so much for sharing !!
Glad you enjoyed it!
Great job my friend, you inspired so many people!
Good explanation
Thanks for sharing your knowledge 👍
This was an awesome descriptive walk through of a design element many could use in robotic applications!
Glad you liked it!
A very nice model of this reduction gear with clear explanation of its construction and reliability. You've prompted users to report their experiences of similar reduction gears in a wide range of applications, which are interesting to read.
Learned a new thing today....... thanks for your upload
👍👍
2 thumbs up for you my friend for talking the time and for your patience for explaining it so well. I became a subscriber in just 1 video. Will explore your channel now and hope for more mechatronics & robotics related content in the near future
Thanks and welcome!
this is one of the most innovative projects i have watched... 1st. the strain wave gear how did anyone ever think of it? 2nd. fantastic 3D printer project 3rd. great arduino project! thanks..:)
Wow, I learned so much! Wish I had teachers like you in school way back when :-D
Fantastic explanation and great demo. Thanks!
Thanks for sharing such a beautiful mechanism
Your videos are excellent. Great projects and your explanations are very clear and concise.
Thank you!
Genuinely one of the coolest builds and videos. Videos and the build files u provide is what reminds me of how great the internet is.
Glad you enjoy it!
excellent presentation... hats off to your homework and efforts.. outstanding. god bless you
Incredible effort and explenation.
Thank you, that was a great explaination.
great video, clearly explaining the gears. and sharing the step files, a huge shout out for that.
Glad you liked it!
I wish I had your abiblity, to say this is impressive does no justice. Amazing. I now understand how a harmonic drive works :)
That's pretty cool. Gonna print this tomorrow.
Nice detailed description, really enjoyed it
Glad to hear it!
Wait a second, that’s so simple! Thanks for showing the engineering behind the harmonic drive.
Amazing work and affort! Thank you! This is the best explanation on youtube about this topic.
I'm feeling like I have to do the same with my projects (:
Thank you! Though it's nothing compared to your projects. Those robot arms look AMAZING!
These graphics are incredible!!!
Best video on harmonic gears so far
Very nice project ... well explained and illustrated. THANK YOU
Many thanks!
That was really interesting and a most excellent explanation 👍🙂
Great job. Very interesting. Thanks for sharing.
You are a kind-hearted genius!
Beautiful !!! TKS for sharing 👍
A very satisfying result, I think. Well done! I can make most of this on my laser cutter - just need to think a bit about solving the flexible spline without a 3D printer. Thanks for the ideas, anyway!
Perhaps resin casting would be good solution for the flex spline?
@@rizalardiansyah4486 Thanks Rizal! Yes.
great work, instant subscription!
harmonic drives really are an ingeniously simple and elegant mechanism, and the form factor is just perfect for robotics. (wonder how slim you could make a hollow one) but i think for 3D printed projects requiring a lot reduction and torque, the money still is in worm gears and good old linear screw actuators.
Thanks for the input!
Great job! I can't wait to see where you take your design. Which design aspects are you optimizing for? Backlash? Output Torque? This kind of system should be able to produce very high gear torque as it goes as the square of the ratio. So, a 35:1 reduction should (theoretically) provide1,225x the torque of the motor alone in exchange for reducing the speed that same amount. That's enormous!
Really enjoyed this video, loved the commentary at 10:21
Freddie Saunders
@@thatfeeble-mindedboy deeeezzzzz nuts!!@
Perfect 3D model man.
"The shape came out decent in the end" That is the most humble understated desciption I've heard all month. Acrylic can be such a pain to work with and your part came out accurate and perfectly shaped even though your used hand tools. Well done on all counts. Really well done indeed. Keep it up :-)
Acrylic can be a nightmare I tend to use polycarbonate instead.
Wow.That's a lot of work.Good job.
Great stuff. Nice work.
Amazing video, mate! This is what I was searching for, and this great harmonic drive model looks very reliable! What was the 3D printer's nozzle size when you printed this harmonic drive?
If you don't mind, can you tell the print settings so as to get the desired strength of the parts
What a fantastic and inspiring video thank you sir
This was a GREAT video, and probably the best explanation with visuals on how strain wave works!
How robust do you think it is? (Like Will it survive 50 hours, or 1000 hours of operation?) Maybe only the gears would need replacing?
Thank you for posting!!
Superb presentation, thanks!
Very nice project. Thank you sir
Very good description and design.
One question - are you planning to reproduce this gear and build a robot out of it? This is absolute top-notch quality in designing and in video production. The ability to keep off-the-shelf components as the basis of a design and to make things affordable and achievable for young audiences is an under-appreciated and immensely valuable part of this. Please keep up these videos.
Learn something new every day!
Fantastic design! Amazing ! Congratulations
Thank you very much!
That was beautiful, thanks.
One application could be as a "ANTENNA - ROTATOR" - very cool . thank you for this video!
Incredible design!
Best explation ever. Great visualisation, can see the effort that was put in it.
But I have too many questions.
1. Can it be used as high torque lowspeed to low torque higher speeds? ( Just like normal gear box using in both the direction)
2. What if we use very high speed motors ( drone motors) as input?
3. Can flexible inner teeth made of aluminum withstand higher input rpm?
4. Efficiency and heating?
I have lot more to ask but just need these answers.
I know these are a bit weird questions, just want to compare with other models of gear boxes.
BTW you got a new subscriber...
All the best for future videos and lots of love from India.
Did this end up working the first time or were there a few revisions to various parts to get to what is in the video? If it was done in one pass this is even more amazing work than it already is!
Congratulations! Perfect project. I'm going to build the same in a cnc mill. Out of steel.
Greatly executed video! Mantul gan!! Terniat!!
thank you, many times, great video
15:34 I bought several of those same clamps from Harbor Freight. The jaw supports broke easily. They have since redesigned them to not be hollow and they are much better.
Thanks so much for sharing ❤️
Does the constant flexing cause wear and reduce lifespan compared to a gear assembly which can function with everything rigid?
I imagine it's like a spring where the metal of the coil constantly flexes. Do springs ultimately fail due to this (have limit to number of contractions - reliable lifespan)?
Thank you sir 👍, well done
That's a great video. It was very much informative and walk through was very nice through out the project. Thanks for sharing all the information. I would like to learn more about these type of gear drives. According to your project for a speed reduction of 30 times we got a torque of 10 times from original. That's not bad at all with small Size it comes in. I think we can get more torque with same dimensions with same reduction, having staged gear sets. But considering manufacturing costs, for small projects i think using these drives is advisable. Because in gear train we will have multiple gears, components, bearings, keys, circlips and to pack in small space it will become complex. Once again thanks for sharing this video, its very informative.