Magnification of energy transmission ratio using miniature cycloidal gear box for humanoids

Design challenges arise in applications like humanoids where high torque is required to move and self-balance the bot. Present research focuses on development of a cycloidal gearbox for humanoid shoulder joints. Light weight gear box assembly was designed with mass 360g. Structural design analysis carried out. A 3D printed prototype developed validate motion analysis. It actuated by NEMA 17 step motor (0.45 N-m) which controlled A4988 driver module Arduino platform. The speed reduction ratio achieved 20:1 very small space 60 x 20mm. Motor 0.45Nm magnified up 8.82Nm. Result shows proposed satisfies requirement joints such as torque, light compact assembly. Additional features noticed are back drivable, vibration noise free transmission highly desirable