What is Strain Wave Gear a.k.a. Harmonic Drive? A Perfect Gear Set For Robotics Applications!?

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How To Mechatronics

How To Mechatronics

4 жыл бұрын

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In this tutorial we will learn what is Strain Wave Gear, also known as Harmonic Drive.
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Пікірлер: 640
@HowToMechatronics
@HowToMechatronics 3 жыл бұрын
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
@jonahcapuano9186
@jonahcapuano9186 3 жыл бұрын
always best ideas, you can introduce with your Scara robot?
@user-ru7im4kz2g
@user-ru7im4kz2g 3 жыл бұрын
Please stop talking with a Russian accent
@maniiez
@maniiez Жыл бұрын
10:20 yoooo he said it! It’s 2 am I need sleep
@yrisu6098
@yrisu6098 Жыл бұрын
The file is being downloaded, but it is corrupted.
@igorradevski9147
@igorradevski9147 4 жыл бұрын
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!
@HowToMechatronics
@HowToMechatronics 4 жыл бұрын
Thank you so very much! These words are so motivating!
@jien2550
@jien2550 3 жыл бұрын
@@HowToMechatronics where are you from actually? I don't understand your accent.
@11B_scrub
@11B_scrub 3 жыл бұрын
@@jien2550 Most likely eastern europe or nordic countries
@Build_the_Future
@Build_the_Future 3 жыл бұрын
I love it. I'm building a 2 legged robot on my channel. Check it out and let me know what you think, thanks.
@michaelhawthorne8696
@michaelhawthorne8696 4 жыл бұрын
That's a great bit of engineering..... Things went together beautifully....really enjoyed watching that, thanks for uploading...
@HowToMechatronics
@HowToMechatronics 4 жыл бұрын
Thanks, glad you enjoyed it!
@22Tech
@22Tech 3 жыл бұрын
yeah it was designed so well!
@shanestevens622
@shanestevens622 3 жыл бұрын
Ditto, very envious of your set-up and capabilities, well done
@huvrr1
@huvrr1 3 жыл бұрын
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.
@severpop8699
@severpop8699 3 жыл бұрын
@@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.
@its_crossfader
@its_crossfader 13 күн бұрын
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.
@Chris-bg8mk
@Chris-bg8mk 4 жыл бұрын
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!
@PilotMan71
@PilotMan71 3 жыл бұрын
What kind of nonlinearities?
@EmGi_
@EmGi_ 3 жыл бұрын
do you think there are the same problems today almost 30 years later?
@Chris-bg8mk
@Chris-bg8mk 3 жыл бұрын
@@EmGi_ sine waves! I believe it's inherent. Maybe the boffins have found a fix?
@AlxM96
@AlxM96 3 жыл бұрын
How did you work around the issue? Just a nightmarish transfer function?
@MrFaaaaaaaaaaaaaaaaa
@MrFaaaaaaaaaaaaaaaaa 3 жыл бұрын
Posting in this thread for when someone posts the solutions for this
@sparshgarg8362
@sparshgarg8362 2 жыл бұрын
Really appreciate the massive efforts that must have gone into creating this one!!
@brandonthesteele
@brandonthesteele 3 жыл бұрын
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!
@samosaarts
@samosaarts 3 жыл бұрын
That drive mechanism is absolutely genius! Love it, weirdly haven't heard about it before. Tickled my mechanical engineering itch so good...
@JulianMakes
@JulianMakes 3 жыл бұрын
Not only awesome subject material but this is a tour de force of editing and animation, thanks so much for the huge effort!
@crozwayne
@crozwayne 3 жыл бұрын
Outstanding work! well done and thank you for taking the time to share it with us!
@JGD444
@JGD444 3 жыл бұрын
This video is a absolute gem for me! it was clear, direct, w/ excellent examples. Thanks!
@ExtantFrodo2
@ExtantFrodo2 4 жыл бұрын
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!
@whistle3man
@whistle3man 3 жыл бұрын
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.
@ge200099
@ge200099 4 жыл бұрын
10:20 Deeeez nutz!
@pootytang2872
@pootytang2872 3 жыл бұрын
11:02
@LordxJoe
@LordxJoe 3 жыл бұрын
came looking for this as soon as i heard it.
@gokalpcetin4763
@gokalpcetin4763 3 жыл бұрын
Got'em
@TBL_stevennelson
@TBL_stevennelson 3 жыл бұрын
Deeeez teeth lol Image him teaching his kid to say teeth
@TBL_stevennelson
@TBL_stevennelson 3 жыл бұрын
But for realz good video.
@robertamurrant
@robertamurrant 4 жыл бұрын
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
@jchau9898
@jchau9898 3 жыл бұрын
Fantastic job explaining everything and bringing everything together, CAD, 3D printing, Arduino, and mechanics. 👍🏻
@geofferyshanen7758
@geofferyshanen7758 3 жыл бұрын
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!!!!!
@g2s2m19
@g2s2m19 3 жыл бұрын
You explained this concept beautifully. Grateful to you.
@ZillaYT
@ZillaYT Жыл бұрын
WOW! This is inarguable the BEST video on the HPR motor. Thanks!
@MegaTraxxas
@MegaTraxxas 4 ай бұрын
Great job my friend, you inspired so many people!
@Crobisaur
@Crobisaur 3 жыл бұрын
Always wanted to see these gearboxes in action. Thank you for sharing!!
@567dirt8910
@567dirt8910 3 жыл бұрын
Amazing. This was so fascinating to watch and it made perfect sense. You are incredibly intelligent.
@Meyaboi
@Meyaboi 4 жыл бұрын
This is incredibly interesting and your presentation is phenomenal. Thank you!!!!
@terrancefields4414
@terrancefields4414 3 жыл бұрын
THANK YOU I JUST LEARNED SOMETHING NEW. This is fantastic and for explaining the principle so well.
@LifeGeneralist
@LifeGeneralist 3 жыл бұрын
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.
@Kaizzer
@Kaizzer 3 жыл бұрын
THE MOST INFORMATIVE VIDEO ABOUT HARMONIC DRIVE!!! Excellent work!!!
@Robothut
@Robothut 4 жыл бұрын
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.
@HowToMechatronics
@HowToMechatronics 4 жыл бұрын
Thanks! I'm interested in trying Cycloidal drives as well.
@dooby1445
@dooby1445 4 жыл бұрын
That's actually an incredible explanation of this drive. Thanks
@bonafide9085
@bonafide9085 4 жыл бұрын
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!
@bigmeatyxclaws876
@bigmeatyxclaws876 Жыл бұрын
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.
@HowToMechatronics
@HowToMechatronics Жыл бұрын
Glad you enjoy it!
@shenmisheshou7002
@shenmisheshou7002 Жыл бұрын
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.
@wd9102
@wd9102 2 жыл бұрын
Thanks for sharing such a beautiful mechanism
@qzorn4440
@qzorn4440 3 жыл бұрын
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..:)
@hayfahvytsen
@hayfahvytsen 4 жыл бұрын
Fantastic explanation and great demo. Thanks!
@tgirard123
@tgirard123 3 жыл бұрын
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 !!
@HowToMechatronics
@HowToMechatronics 3 жыл бұрын
Glad you enjoyed it!
@mackhinastation
@mackhinastation 3 жыл бұрын
You did an awesome job explaining this!
@PabloPazosGutierrez
@PabloPazosGutierrez 3 жыл бұрын
Nice detailed description, really enjoyed it
@HowToMechatronics
@HowToMechatronics 3 жыл бұрын
Glad to hear it!
@feelingzhakkaas
@feelingzhakkaas 3 жыл бұрын
excellent presentation... hats off to your homework and efforts.. outstanding. god bless you
@sennabullet
@sennabullet 3 жыл бұрын
Amazing! Thank you VERY much for sharing this build!
@finster101
@finster101 3 жыл бұрын
Your videos are excellent. Great projects and your explanations are very clear and concise.
@HowToMechatronics
@HowToMechatronics 3 жыл бұрын
Thank you!
@akhtaredroos
@akhtaredroos 3 жыл бұрын
👍👍 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
@HowToMechatronics
@HowToMechatronics 3 жыл бұрын
Thanks and welcome!
@sachiperez
@sachiperez 3 жыл бұрын
I kept saying ‘beautiful’ at the screen. What a nice technology and excellent example!
@TheAvoca1989
@TheAvoca1989 2 жыл бұрын
Best video on harmonic gears so far
@piconano
@piconano 2 жыл бұрын
Wow! Thank you. Such an impressive video! Just the simulation was worth the watch.
@HowToMechatronics
@HowToMechatronics 2 жыл бұрын
Glad you enjoyed it!
@nevillecreativitymentor
@nevillecreativitymentor 4 жыл бұрын
Very nice project ... well explained and illustrated. THANK YOU
@HowToMechatronics
@HowToMechatronics 4 жыл бұрын
Many thanks!
@ctoforhire
@ctoforhire 4 жыл бұрын
This was an awesome descriptive walk through of a design element many could use in robotic applications!
@HowToMechatronics
@HowToMechatronics 4 жыл бұрын
Glad you liked it!
@antonwinter630
@antonwinter630 4 жыл бұрын
great video, clearly explaining the gears. and sharing the step files, a huge shout out for that.
@HowToMechatronics
@HowToMechatronics 3 жыл бұрын
Glad you liked it!
@mattiacestaro9110
@mattiacestaro9110 4 жыл бұрын
Ever the best! .. I just can't wait to see what you will do with this harmonic drive in you future projects :)!
@richardgifford3456
@richardgifford3456 Жыл бұрын
I wish I had your abiblity, to say this is impressive does no justice. Amazing. I now understand how a harmonic drive works :)
@astesla369
@astesla369 4 жыл бұрын
Good explanation Thanks for sharing your knowledge 👍
@frsaund06
@frsaund06 4 жыл бұрын
Really enjoyed this video, loved the commentary at 10:21
@thatfeeble-mindedboy
@thatfeeble-mindedboy 3 жыл бұрын
Freddie Saunders
@RKroese
@RKroese 3 жыл бұрын
@@thatfeeble-mindedboy deeeezzzzz nuts!!@
@mschorer
@mschorer 3 жыл бұрын
This is a super explanation and great project 👍
@BrassLock
@BrassLock 3 жыл бұрын
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.
@andraslibal
@andraslibal 3 жыл бұрын
Really superb video. Thanks :)
@trevuser2007
@trevuser2007 4 жыл бұрын
Superb presentation, thanks!
@hunter-ie8mv
@hunter-ie8mv 4 жыл бұрын
Incredible effort and explenation.
@harelzilberman
@harelzilberman 3 жыл бұрын
Great engineering! Excellent builder! Thank you.. Your amazing
@malgailany
@malgailany 4 жыл бұрын
Informative video and interesting build with nice attention to details. Thank you!
@HowToMechatronics
@HowToMechatronics 4 жыл бұрын
Thank you too!
@ahmaddhuhahabibullah5694
@ahmaddhuhahabibullah5694 3 жыл бұрын
Greatly executed video! Mantul gan!! Terniat!!
@klausnielsen1537
@klausnielsen1537 3 жыл бұрын
"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 :-)
@dogwalker666
@dogwalker666 3 жыл бұрын
Acrylic can be a nightmare I tend to use polycarbonate instead.
@Farizno
@Farizno 4 жыл бұрын
Great job. Very interesting. Thanks for sharing.
@davematthews7686
@davematthews7686 4 жыл бұрын
Very good description and design.
@whatsinthename8660
@whatsinthename8660 3 жыл бұрын
Thank you... thanks a lot..for making part of your engieering and build
@pasha12343
@pasha12343 3 жыл бұрын
That was really interesting and a most excellent explanation 👍🙂
@Jikdor
@Jikdor 4 жыл бұрын
That's pretty cool. Gonna print this tomorrow.
@davidmalawey
@davidmalawey 3 жыл бұрын
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.
@andreasschindler6077
@andreasschindler6077 3 жыл бұрын
Thank you, that was a great explaination.
@pandytbox
@pandytbox 2 жыл бұрын
Very clear video. I have subscribed.
@HowToMechatronics
@HowToMechatronics 2 жыл бұрын
Thanks and welcome! :)
@Atif_gammer
@Atif_gammer 4 жыл бұрын
Very nice project. Thank you sir
@brettmoore3194
@brettmoore3194 3 жыл бұрын
That is amazing. Making my minds eye flash images of a new type of generator
@markgearing
@markgearing 3 жыл бұрын
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.
@amargupta.8847
@amargupta.8847 3 жыл бұрын
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.
@Jonathan-vx7xi
@Jonathan-vx7xi 3 жыл бұрын
wow, phenomenal video..so glad I found you and subd...looking forward to making that one day
@Ucceah
@Ucceah 4 жыл бұрын
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.
@HowToMechatronics
@HowToMechatronics 3 жыл бұрын
Thanks for the input!
@umiturgutaswwsa
@umiturgutaswwsa 2 жыл бұрын
Wow.That's a lot of work.Good job.
@kaden56
@kaden56 4 жыл бұрын
These graphics are incredible!!!
@buffplums
@buffplums 3 жыл бұрын
What a fantastic and inspiring video thank you sir
@Allan-mf1he
@Allan-mf1he 3 жыл бұрын
Great stuff. Nice work.
@l3d-3dmaker58
@l3d-3dmaker58 3 жыл бұрын
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
@TheRainHarvester
@TheRainHarvester 3 жыл бұрын
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?
@an_R_key
@an_R_key 3 жыл бұрын
Wow, I learned so much! Wish I had teachers like you in school way back when :-D
@mikevanin1
@mikevanin1 4 жыл бұрын
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!
@rizalardiansyah4486
@rizalardiansyah4486 4 жыл бұрын
Perhaps resin casting would be good solution for the flex spline?
@mikevanin1
@mikevanin1 4 жыл бұрын
@@rizalardiansyah4486 Thanks Rizal! Yes.
@StefanReich
@StefanReich 3 жыл бұрын
Learn something new every day!
@carlgough7839
@carlgough7839 11 ай бұрын
excellent video. Thank you
@bldjln3158
@bldjln3158 3 жыл бұрын
Wait a second, that’s so simple! Thanks for showing the engineering behind the harmonic drive.
@MRBEngineering
@MRBEngineering 3 жыл бұрын
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 (:
@HowToMechatronics
@HowToMechatronics 3 жыл бұрын
Thank you! Though it's nothing compared to your projects. Those robot arms look AMAZING!
@JoseGustavoAbreuMurta
@JoseGustavoAbreuMurta 4 жыл бұрын
Fantastic design! Amazing ! Congratulations
@HowToMechatronics
@HowToMechatronics 4 жыл бұрын
Thank you very much!
@TheGonzov
@TheGonzov 3 жыл бұрын
Beautiful !!! TKS for sharing 👍
@ulugbekhamidov2529
@ulugbekhamidov2529 3 жыл бұрын
Really enjoyed theory and implementation
@HowToMechatronics
@HowToMechatronics 3 жыл бұрын
Glad to hear that!
@kjyhh
@kjyhh 4 жыл бұрын
Perfect 3D model man.
@skorkmaz
@skorkmaz 2 жыл бұрын
Congratulations! Perfect project. I'm going to build the same in a cnc mill. Out of steel.
@theoceansucks
@theoceansucks 3 жыл бұрын
That was beautiful, thanks.
@RichardBronosky
@RichardBronosky 3 жыл бұрын
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.
@melgross
@melgross 3 жыл бұрын
This is great. That was a great deal of work. I use the software on my iPad Pro, and it works very well. It’s very different from the Bentley Cad I’m used to. I did notice that it appears that some of the gear teeth touch when moving over one another. I attribute that to the usual sloppiness of inexpensive 3D printers. Possibly removing a fraction of a mm from the very tips of the teeth would solve that, as I can see a slight jump when that happens
@amkp40technology
@amkp40technology 4 жыл бұрын
Very good video concept.
@laliborio
@laliborio 3 жыл бұрын
No words, buddy. Just feelings.
@ghostindamachine
@ghostindamachine 3 жыл бұрын
Incredible design!
@robottinkeracademy
@robottinkeracademy 3 жыл бұрын
I built this gear from your work, thanks!
@HowToMechatronics
@HowToMechatronics 3 жыл бұрын
Nice to hear it!
@headbanger1428
@headbanger1428 3 жыл бұрын
You are a kind-hearted genius!
@icarossavvides2641
@icarossavvides2641 3 жыл бұрын
Nice description and demonstration. Used a harmonic drive about 35 years ago, if you look at how the drive is transferred it should be obvious that it's non linear, almost a kind of ratchet action. This therefore does not really lend it self to being used within a precision reduction system. An important consideration is that these gearboxes are most efficient when working at, I seem to remember but may be wrong, some 90% of maximum design loading, efficiency drops off dramatically at lower loadings, from this it can be surmised that it would be only suitable for a constant load.
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