Accompaning files for the thesis work "Anti-Backlash Mechanisms for Cost-Effective Cycloidal Drive Robotic Actuators: Design and Evaluation"
Results - Test scripts - CAD source - Step files - Documentation - Diagrams - Photos
3D-printing is a promising method for cost-effective actuator designs, but it often results in less precise tolerances, leading to increased play. In this work, we propose two novel anti-backlash mechanisms for cycloidal reducers. One uses a conically shaped cycloidal disk, and the other uses a split non-pinwheel design. Both were integrated into a compact actuator design. Two prototypes were manufactured and extensively tested in comparison to a baseline model. Experimental results show that the proposed mechanisms reduce play at the cost of increased friction. Both mechanisms utilize an adjustable preload that can be configured for the intended application based on the trade-off between play and friction. Furthermore, the designed actuator demonstrates performance that is competitive with recent works. Using 3D-printed components proves to be a viable manufacturing method for cost-efficient designs.
Agendas All meeting agendas
CAD Export Exported CAD files, such as STEP files of the assemblies and individuald STL or STEP parts for 3D-printing
CAD Source SOLIDWORKS files of all components for easy modification
CAD Source/test setup SOLIDWORKS files for parts related to the tests and test setup
CAD Source/off-the-shelf SOLIDWORKS files for sourced parts, such as bearings and hardware
Cycloid and Non-Pinwheel Profile Generation Jupyter notebook file with scripts for the generation of cycloidal and non-pinwheel profiles. Included function to export (part of) the profile to DXF.
Documentation Files for some of the tables and comparisons of the paper
Documentation/diagrams SVG files of all diagrams and annotated images
Documentation/CAD Section Views Screenshots of the CAD design
Documentation/Cad animations Videos of the motions and exploded views of the CAD design
Documentation/All photos and videos All pictures and photos from the timeline of the project. All files are timestamped, so recorded tests can e matched by video and raw data
Test Scripts More details about these scripts in corresponding README
Test Scripts/test_data Resulting test data, all files have timestamps and short descriptions in the name. All of the used data is aready added in the analysing notebook files
Test Scripts/figures Resulting plots as SVG files from the analysis notebooks
Shield:
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
