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FTC Tetrix / AndyMark Motor 9:1 Gearbox, Hypocycloidal single stage - V4
by cheer4ftc, published
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Gearbox for FTC Tetrix / AndyMark motors. Slows motor speed down by 9:1.
Requires three 6-32 x 1" screws, a Tetrix motor hub, small screws to mount the part to your motor of choice, three standard Tetrix nuts, and one 6200ZZ bearing ($1.49 at vxb.com).
Thanks to all the great hypocycloid gearbox references out there and to the hypocycloid examples on Thingiverse.
http://youtu.be/xktsFLkfRto
Instructions
Print all the pieces. No support required.
Screw the mountBottom piece onto the Tetrix or Andymark motor.
Push the shaft piece over the motor shaft.
Put the bearing in the cam piece.
Push the bearing/cam over the shaft piece.
Attach the ringAndHubMount piece to a Tetrix motor hub and remove the hub set screw.
Put the ringAndHubMount piece over the cam piece.
Put the mountTop piece over everything and screw the mountTop and mountBottom pieces together.
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Nice! An advancement in the Hypocycloid gear box state-of-the-art.
How did you generate the hypocycloidal profile you used? Do you have any problem keeping the motor shaft anchored to the eccentric piece so it spins the gear?
Since I was using OpenSCAD, I wanted my profile to be entirely constructed by adding and subtracting cylinders. Given the radius of the elements and the number of "bumps", I derived the radii of the additive and subtractive cylinders so that they'd be continuous and with a continuous derivative (slope) at the intersections. The equations for the radii are in the .scad file.
For the rotating cam, I was experimenting with a few other shapes (like in your other example project) which made me only put the additive cylindrical bumps on. Given the final result, I probably could have reverted to the additive/subtractive sinusoidal-like shape that the outer mountBottom has.
The ring and hub holder is just the shapes of the bump additive circles with the larger radius to account for the cycloidal rotation.
So far, the motor shaft has worked fine in the eccentric piece, but I haven't put the output under a lot of load yet (or stalled it). No doubt something will break if it's under a lot of load. :)
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