What is Strain Wave Gear a.k.a. Harmonic Drive? A Perfect Gear Set For Robotics Applications!?
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- čas přidán 17. 06. 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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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.
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.
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.
After watching other videos, I found this one to be straight to the point and it gave me a clear-cut idea about harmonic drives. Thank you.
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!
Outstanding work! well done and thank you for taking the time to share it with us!
Not only awesome subject material but this is a tour de force of editing and animation, thanks so much for the huge effort!
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!!
That drive mechanism is absolutely genius! Love it, weirdly haven't heard about it before. Tickled my mechanical engineering itch so good...
This video is a absolute gem for me! it was clear, direct, w/ excellent examples. Thanks!
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 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
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.
Fantastic job explaining everything and bringing everything together, CAD, 3D printing, Arduino, and mechanics. 👍🏻
This is incredibly interesting and your presentation is phenomenal. Thank you!!!!
You explained this concept beautifully. Grateful to you.
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! This is inarguable the BEST video on the HPR motor. Thanks!
Always wanted to see these gearboxes in action. Thank you for sharing!!
Great job my friend, you inspired so many people!
THE MOST INFORMATIVE VIDEO ABOUT HARMONIC DRIVE!!! Excellent work!!!
Amazing. This was so fascinating to watch and it made perfect sense. You are incredibly intelligent.
That's actually an incredible explanation of this drive. Thanks
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!
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!!!!!
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.
Nice detailed description, really enjoyed it
Glad to hear it!
Greatly executed video! Mantul gan!! Terniat!!
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!
Ever the best! .. I just can't wait to see what you will do with this harmonic drive in you future projects :)!
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!
Really enjoyed this video, loved the commentary at 10:21
Freddie Saunders
@@thatfeeble-mindedboy deeeezzzzz nuts!!@
Fantastic explanation and great demo. Thanks!
Best video on harmonic gears so far
THANK YOU I JUST LEARNED SOMETHING NEW. This is fantastic and for explaining the principle so well.
Amazing! Thank you VERY much for sharing this build!
You did an awesome job explaining this!
Thanks for sharing such a beautiful mechanism
"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.
These graphics are incredible!!!
Very nice project ... well explained and illustrated. THANK YOU
Many thanks!
👍👍
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!
Superb presentation, thanks!
This was an awesome descriptive walk through of a design element many could use in robotic applications!
Glad you liked it!
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 pretty cool. Gonna print this tomorrow.
This is a super explanation and great project 👍
Incredible effort and explenation.
Learned a new thing today....... thanks for your upload
I kept saying ‘beautiful’ at the screen. What a nice technology and excellent example!
Very good description and design.
Your videos are excellent. Great projects and your explanations are very clear and concise.
Thank you!
Thank you... thanks a lot..for making part of your engieering and build
Great engineering! Excellent builder! Thank you.. Your amazing
Good explanation
Thanks for sharing your knowledge 👍
great video, clearly explaining the gears. and sharing the step files, a huge shout out for that.
Glad you liked it!
Learn something new every day!
Informative video and interesting build with nice attention to details.
Thank you!
Thank you too!
Very nice project. Thank you sir
Great job. Very interesting. Thanks for sharing.
excellent presentation... hats off to your homework and efforts.. outstanding. god bless you
Thank you, that was a great explaination.
I wish I had your abiblity, to say this is impressive does no justice. Amazing. I now understand how a harmonic drive works :)
Great stuff. Nice work.
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.
Really superb video. Thanks :)
Wow, I learned so much! Wish I had teachers like you in school way back when :-D
Wow.That's a lot of work.Good job.
Fantastic design! Amazing ! Congratulations
Thank you very much!
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!
That was really interesting and a most excellent explanation 👍🙂
Very clear video. I have subscribed.
Thanks and welcome! :)
That is amazing. Making my minds eye flash images of a new type of generator
Beautiful !!! TKS for sharing 👍
That was beautiful, thanks.
Perfect 3D model man.
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?
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.
You are a kind-hearted genius!
Very good video concept.
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.
wow, phenomenal video..so glad I found you and subd...looking forward to making that one day
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.
What a fantastic and inspiring video thank you sir
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.
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
Incredible design!
Really enjoyed theory and implementation
Glad to hear that!
Excellent project. I liked it
Thank you! Cheers!
🙂🙂 waiting vedio for long time
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!
excellent video. Thank you
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!
Thank you for posting!!
Great video. Thanks
Brilliant, great video and very informative.
Glad it was helpful!
@@HowToMechatronics Wspaniale przedstawione i wiele informacji , jesteś Wielki.
No words, buddy. Just feelings.