Yikes.  Versions?  I thought there was only one version.
Outer gears are the same OD, have different ID.  Pinion gears are different 
diameters due to extra tooth.
cid:image001.png@01D7F19F.CBD7A380
I've printed one set of 2 pinions.  And one outer gear (BLUE -- Cut1 with 1.25 
and 100T).  Still to print is the other Gear (GREEN, -- Cut001 with 1.25 and 
101T) and 2 more pinion sets.
 
I've created an input shaft.  I'm guessing we hold the 100T gear fixed and the 
101T is the one turning at the 67:1 ratio when turning the input shaft (pinion 
cluster).
 
How do I know which version I'm printing?
 
And more important, how did you create the module tooth shape? Under "Part 
Design/Involute Gear"?
 
I found this tutorial which goes through the nitty gritty.
https://www.fictiv.com/articles/creating-involute-gears-in-cad
 
John
 
 
> -----Original Message-----
> From: Todd Zuercher [mailto:to...@pgrahamdunn.com]
> Sent: December-15-21 6:32 AM
> To: Enhanced Machine Controller (EMC)
> Subject: Re: [Emc-users] Harmonic Drive
> 
> No reason, just picked a number, and that looked good to me.
> 
> Which version are you trying to print? The ones with equal ring diameters and 
> fudged module, or the one with proper module but
> differing diameters?
> 
> Curious to hear how it works, and how strong it may or may not be.
> 
> Todd Zuercher
> P. Graham Dunn Inc.
> 630 Henry Street
> Dalton, Ohio 44618
> Phone:  (330)828-2105ext. 2031
> 
> -----Original Message-----
> From: John Dammeyer < <mailto:jo...@autoartisans.com> jo...@autoartisans.com>
> Sent: Tuesday, December 14, 2021 6:53 PM
> To: 'Enhanced Machine Controller (EMC)' < 
> <mailto:emc-users@lists.sourceforge.net> emc-users@lists.sourceforge.net>
> Subject: Re: [Emc-users] Harmonic Drive
> 
> [EXTERNAL EMAIL] Be sure links are safe.
> 
> I've opened it in FreeCAD.  Exported the pieces as STEP files and imported 
> those into AlibreCAD.   I added holes in each pinion gear
> so that they can be screwed together.  I've sliced it to sit on a 6 layer 
> raft so that the teeth on the glass sided aren't all distorted.
> 
> Time to print will be about 3 hours.  Any reason why they are 20mm thick?  
> Just for strength/power?
> 
> The two outer ring gears got 12 holes on a 70mm radius.  For some reason 
> AlibreCAD shows the 12 holes on the sketch but the
> extrude cut leaves out a couple.  I've posted a help request on that.
> 
> The ring gears (0.3 mm layers) with a raft take over 5 hours, over 4 without 
> the raft.
> 
> I've started printing the two pinions.  See what they look like.  Then decide 
> about the ring gears.  Maybe print one to see how the
> pinions fit.  Then look at the other ring gear and two more pinion sets.  And 
> obviously will also have to design the pinion drive shaft.
> 
> I imagine the assembly will end up looking something like the one that Sam 
> built as a dual spline harmonic?
> 
> John
> 
> 
> > -----Original Message-----
> > From: Todd Zuercher [ <mailto:to...@pgrahamdunn.com> 
> > mailto:to...@pgrahamdunn.com]
> > Sent: December-14-21 11:40 AM
> > To: Enhanced Machine Controller (EMC)
> > Subject: Re: [Emc-users] Harmonic Drive
> >
> > It is a Freecad file, you have to open it with Freecad.  (If I double
> > click on it in a file manager on a Linux pc I get that list to.)
> >
> > Todd Zuercher
> > P. Graham Dunn Inc.
> > 630 Henry Street
> > Dalton, Ohio 44618
> > Phone:  (330)828-2105ext. 2031
> >
> > -----Original Message-----
> > From: Gene Heskett < <mailto:ghesk...@shentel.net> ghesk...@shentel.net>
> > Sent: Tuesday, December 14, 2021 1:53 PM
> > To:  <mailto:emc-users@lists.sourceforge.net> 
> > emc-users@lists.sourceforge.net
> > Subject: Re: [Emc-users] Harmonic Drive
> >
> > [EXTERNAL EMAIL] Be sure links are safe.
> >
> > On Tue, 14 Dec, 2021 at 1:07 PM, Todd Zuercher < 
> > <mailto:to...@pgrahamdunn.com> to...@pgrahamdunn.com> wrote:
> >
> >
> > To: enhanced machine controller (emc)
> > The "pinned" pinions are for if they are to be conventionally made metal 
> > gears to accommodate easy conventional manufacturing.
> > If they were printed, they could simply printed as one piece.  A metal
> > set of gears would have be hobbed separately, then stacked and offset at 
> > the correct angles then drilled and pinned together so
> they turn as one gear.
> >
> > Playing with the cad some more I'm not even sure that it would even be
> > necessary to fudge the modulus on the ring gears to make them both the
> > same diameter.  But it comes at the cost of getting the highest
> > possible gear reduction.  It is only 1.5 tooth/rev instead of 1 tooth,
> > but it is still better than the 2 tooth/rev max possible with the true
> > harmonic drives. (Although a true harmonic drive can get away with and
> > probably works better with finer/smaller teeth.)  For example if the
> > fixed ring gear has 100 teeth, meshing with 3 pinions of 40 teeth on
> > the driven spider. (see attached pic)  Then on the output side adding
> > one tooth to the ring gear(101) and
> > pinions(41) The teeth still mesh perfectly at the same spider axel
> > lengths.  Then pin the 40 and 41 tooth pinions together.  I think the
> > final drive ratio would be 67-1/3:1.  One revolution of the spider
> > would turn the pinions 2.5 times, and advance the driven ring gear
> > 1.5 teeth. (please correct me if I'm wrong in my calculations.) Also I
> > think making the output ring and pinions one tooth smaller instead of 
> > larger keeps the ratio the same but reverses the output
> direction. Here is a link to the Freecad model.
> >  <https://nam04.safelinks.protection.outlook.com/?url=https%3A%2F%2Fdriv> 
> > https://nam04.safelinks.protection.outlook.com/?url=https%3A%2F%2Fdriv
> > e.google.com%2Ffile%2Fd%2F1QX6cw-&amp;data=04%7C01%7Ctoddz%40pgrahamdu
> > nn.com%7C48cd05236af94274e3a408d9bf5d17c0%7C5758544c573f47cebee96c3e08
> > 06fb43%7C0%7C0%7C637751228834141105%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC
> > 4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&amp;sd
> > ata=0p%2F4ye8YsxbrOGDldiclmTE%2FA88AzyMtTAl2W9jekIg%3D&amp;reserved=0
> > zHwiRNLSGqVZV_AoieQYPtvKRB%2Fview%3Fusp%3Dsharing&amp;data=04%7C01%7Ct
> > oddz%40pgrahamdunn.com%7C5ce70ebbb
> > 0d143330dd508d9bf32e1f5%7C5758544c573f47cebee96c3e0806fb43%7C0%7C0%7C6
> > 37751048404394852%7CUnknown%7CTWFp
> > bGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn
> > 0%3D%7C3000&amp;sdata=h1ePHRAQKLaTDCRls
> > HUxq3ODzsXgQAQEDzGg3nCfPyY%3D&amp;reserved=0
> >
> >
> >
> > This doesn't render here Todd, its a text list of colors.
> >
> >
> > Making the difference between driven and output two teeth, still works out 
> > to mesh correctly but makes the output ratio 34:1.
> > (100t/40t:102t/42t)  Which I think might be about the perfect ratio
> > for the rack and pinion drive on my router (to replace it's barely
> > adequate 10:1 belt.)  However I'd probably be better off simply buying a 
> > readily available off the shelf 30:1 planetary gear box for
> that.
> >
> >
> >
> > Were I to do that idea in openscad, I'd union the two different pinions and 
> > print 4 of them.
> > Not having access to your model, probably a mimetype error here, do
> > you have an axle bearing per gear, or could I just use one gear per 
> > unionized pair?  It seems to me that both bearings would be
> needed to resist the twisting moment on the pinions under load.
> > I've now installed freecad, and will dl the link and see if that will show 
> > me what you have.
> >
> > Todd Zuercher
> > P. Graham Dunn Inc.
> > 630 Henry Street
> > Dalton, Ohio 44618
> > Phone:  (330)828-2105ext. 2031
> >
> > -----Original Message-----
> > From: John Dammeyer
> > < <mailto:jo...@autoartisans.com%3cmailto:jo...@autoartisans.com> 
> > jo...@autoartisans.com<mailto:jo...@autoartisans.com>>
> > Sent: Tuesday, December 14, 2021 12:30 AM
> > To: 'Enhanced Machine Controller (EMC)'
> > <emc-users@lists.sourceforge.net<mailto:emc-us...@lists.sourceforge.ne
> > t>>
> > Subject: Re: [Emc-users] Harmonic Drive
> >
> > [EXTERNAL EMAIL] Be sure links are safe.
> >
> > Todd,
> > I'm not sure I 'get' how it works with the pinned gears.
> >
> > I built a different kind of flex cup drive based on a paper on what is
> > called an HGD_EWG_Drive
> >  <https://nam04.safelinks.protection.outlook.com/?url=https%3A%2F%2Fwww> 
> > https://nam04.safelinks.protection.outlook.com/?url=https%3A%2F%2Fwww.
> > geartechnology.com%2Fissues%2F1013x%2Fharmoni&amp;data=04%7C01%7Ctoddz
> > %40pgrahamdunn.com%7C48cd05236af94274e3a408d9bf5d17c0%7C5758544c573f47
> > cebee96c3e0806fb43%7C0%7C0%7C637751228834141105%7CUnknown%7CTWFpbGZsb3
> > d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7
> > C3000&amp;sdata=VOwRT5Ol5WFCP9lJXpronQGU6KEJd6R5OoaBRHLzFHk%3D&amp;res
> > erved=0
> > c_drive.pdf&amp;data=04%7C01%7Ctoddz%40pgrahamdunn.com%7C5ce70ebbb0d14
> > 3330dd508d9bf32e1f5%7C5758544c573f47c
> > ebee96c3e0806fb43%7C0%7C0%7C637751048404404837%7CUnknown%7CTWFpbGZsb3d
> > 8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luM
> > zIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&amp;sdata=sqS9DyYADHEEp2K6XU9
> > 8Jl%2FtEHd%2FuVsehu7vaajW8Fk%3D&amp;r
> > eserved=0
> >
> > Here's a really short video of the version of one I created.  I used
> > that earlier 3D print harmonic drive for the base tooth form although
> > this type looks like you can use involute profile or even belt profile as 
> > the flex teeth follow a circular rather than elliptical gear.
> Something to play with now that I have some PETG.
> >  <https://nam04.safelinks.protection.outlook.com/?url=https%3A%2F%2Fyout> 
> > https://nam04.safelinks.protection.outlook.com/?url=https%3A%2F%2Fyout
> > u.be%2Flb6shTgQ1wY&amp;data=04%7C01%7Ctoddz%40pgrahamdunn.com%7C48cd05
> > 236af94274e3a408d9bf5d17c0%7C5758544c573f47cebee96c3e0806fb43%7C0%7C0%
> > 7C637751228834141105%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQI
> > joiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&amp;sdata=RhWq7Ob1OtP
> > w7ewh%2FjHitjP1dGV2oyn0BlV59D5nwVQ%3D&amp;reserved=0
> > %40pgrahamdunn.com%7C5ce70ebbb0d143330dd508d9bf32e1f5%7C5758544c573f47
> > cebee96c3e0806fb43%7C0%7C0%7C637751
> > 048404404837%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luM
> > zIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C
> > 3000&amp;sdata=L1ZCbk4vQLNwth%2BjgY7JpQQh1a6LD9UN6ePO7Kk5Z2o%3D&amp;re
> > served=0
> >
> > I really need to bring in a bigger stepper to play with this.  The
> > surplus unit with about 1A at 36V will stall if I even look at it cross 
> > eyed.
> >
> > Here's the original I was playing with along side the new one.
> >  <https://nam04.safelinks.protection.outlook.com/?url=http%3A%2F%2Fwww.a> 
> > https://nam04.safelinks.protection.outlook.com/?url=http%3A%2F%2Fwww.a
> > utoartisans.com%2Fharmonicdrive%2FHarmonicDrive&amp;data=04%7C01%7Ctod
> > dz%40pgrahamdunn.com%7C48cd05236af94274e3a408d9bf5d17c0%7C5758544c573f
> > 47cebee96c3e0806fb43%7C0%7C0%7C637751228834141105%7CUnknown%7CTWFpbGZs
> > b3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D
> > %7C3000&amp;sdata=DngsWxx6Z9c79ch3EMu1f5P4lcHBY8yqyeRz3zOEeuY%3D&amp;r
> > eserved=0
> > -
> > 35.jpg&amp;data=04%7C01%7Ctoddz%40pgrahamdunn.com%7C5ce70ebbb0d143330d
> > d508d9bf32e1f5%7C5758544c573f47cebee
> > 96c3e0806fb43%7C0%7C0%7C637751048404404837%7CUnknown%7CTWFpbGZsb3d8eyJ
> > WIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLC
> > JBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&amp;sdata=ee87%2FTZuN1zEfVCblcYSCn
> > xYyJhVwGscGNyrzoy5M%2Bs%3D&amp;reser
> > ved=0
> >
> > I still don't have the right size bearings but did have these tiny
> > ones I bought 20 years ago at a model aircraft show in the UK.  So I 
> > created bearings that were 22mm diameter.  Big issue there
> they were really only 21.3mm after printing and that caused all sorts of
> > issues because I forgot that detail.   I then printed some oversize, 
> > created an arbor for them on the lathe and turned them down to
> > 22mm.  Now I get 100% connection and zero backlash.  This things spins
> > so smoothly just by placing a finger on the wave cup driver and pushing it 
> > around.  And you can't hold onto the output.
> >
> >  <https://nam04.safelinks.protection.outlook.com/?url=http%3A%2F%2Fwww.a> 
> > https://nam04.safelinks.protection.outlook.com/?url=http%3A%2F%2Fwww.a
> > utoartisans.com%2Fharmonicdrive%2FHarmonicDrive&amp;data=04%7C01%7Ctod
> > dz%40pgrahamdunn.com%7C48cd05236af94274e3a408d9bf5d17c0%7C5758544c573f
> > 47cebee96c3e0806fb43%7C0%7C0%7C637751228834141105%7CUnknown%7CTWFpbGZs
> > b3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D
> > %7C3000&amp;sdata=DngsWxx6Z9c79ch3EMu1f5P4lcHBY8yqyeRz3zOEeuY%3D&amp;r
> > eserved=0
> > -
> > 29.jpg&amp;data=04%7C01%7Ctoddz%40pgrahamdunn.com%7C5ce70ebbb0d143330d
> > d508d9bf32e1f5%7C5758544c573f47cebee
> > 96c3e0806fb43%7C0%7C0%7C637751048404404837%7CUnknown%7CTWFpbGZsb3d8eyJ
> > WIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLC
> > JBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&amp;sdata=98y0KPsDgP0XL%2FwerNJsD4
> > C0iXkSYx3PIXPoI%2FNy1WU%3D&amp;reserv
> > ed=0
> >
> > And here's a diagram of most of the bits and pieces.
> >  <https://nam04.safelinks.protection.outlook.com/?url=http%3A%2F%2Fwww.a> 
> > https://nam04.safelinks.protection.outlook.com/?url=http%3A%2F%2Fwww.a
> > utoartisans.com%2Fharmonicdrive%2FHarmonicDrive&amp;data=04%7C01%7Ctod
> > dz%40pgrahamdunn.com%7C48cd05236af94274e3a408d9bf5d17c0%7C5758544c573f
> > 47cebee96c3e0806fb43%7C0%7C0%7C637751228834141105%7CUnknown%7CTWFpbGZs
> > b3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D
> > %7C3000&amp;sdata=DngsWxx6Z9c79ch3EMu1f5P4lcHBY8yqyeRz3zOEeuY%3D&amp;r
> > eserved=0
> > -
> > 28.jpg&amp;data=04%7C01%7Ctoddz%40pgrahamdunn.com%7C5ce70ebbb0d143330d
> > d508d9bf32e1f5%7C5758544c573f47cebee
> > 96c3e0806fb43%7C0%7C0%7C637751048404404837%7CUnknown%7CTWFpbGZsb3d8eyJ
> > WIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLC
> > JBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&amp;sdata=rdvZ%2B4gMMR8YZX4iZCMJnZ
> > QY41q82NsnTQCCcG8%2Faw4%3D&amp;re
> > served=0
> >
> > The main bearings are utility trailer 1" ID roller bearings.  I'm
> > waiting for 6101 and 6103 bearings to arrive.  Most  of the parts will be 
> > made from metal.
> >
> > John Dammeyer
> >
> >
> > > -----Original Message-----
> > > From: Todd Zuercher
> > > [ <mailto:to...@pgrahamdunn.com%3cmailto:to...@pgrahamdunn.com%3e> 
> > > mailto:to...@pgrahamdunn.com<mailto:to...@pgrahamdunn.com>]
> > > Sent: December-03-21 8:37 AM
> > > To: Enhanced Machine Controller (EMC)
> > > Subject: Re: [Emc-users] Harmonic Drive
> > >
> > > It was easier to model in Freecad than I expected.  I'll try to attach a 
> > > jpg of it and see if it goes through.
> > >
> > > And if it doesn't go through a link to it on my Google drive.
> > >  <https://nam04.safelinks.protection.outlook.com/?url=https%3A%2F%2Fdr> 
> > > https://nam04.safelinks.protection.outlook.com/?url=https%3A%2F%2Fdr
> > > iv
> > > e.google.com%2Ffile%2Fd%2F1_eSu-olALMsevTnOpzQ1o1r_rPjfexwU%2Fview%3
> > > Fu
> > > sp%3Dsharing&amp;data=04%7C01%7Ctoddz%40pgrahamdunn.com%7C5ce70ebbb0
> > > d1
> > > 43330dd508d9bf32e1f5%7C5758544c573f47cebee96c3e0806fb43%7C0%7C0%7C63
> > > 77
> > > 51048404404837%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV
> > > 2l
> > > uMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&amp;sdata=kFLK8IVVRbugQye
> > > Ts
> > > Zl77AYP%2BQsgwBuVgrvUjR9ysb4%3D&amp;reserved=0
> > >
> > > Here is a link to the Freecad file (Freecad v0.18).
> > >  <https://nam04.safelinks.protection.outlook.com/?url=https%3A%2F%2Fdr> 
> > > https://nam04.safelinks.protection.outlook.com/?url=https%3A%2F%2Fdr
> > > iv
> > > e.google.com%2Ffile%2Fd%2F1GGwG9nzmYowKeuMAWMvOExeGrvSzZCnY%2Fview%3
> > > Fu
> > > sp%3Dsharing&amp;data=04%7C01%7Ctoddz%40pgrahamdunn.com%7C5ce70ebbb0
> > > d1
> > > 43330dd508d9bf32e1f5%7C5758544c573f47cebee96c3e0806fb43%7C0%7C0%7C63
> > > 77
> > > 51048404404837%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV
> > > 2l
> > > uMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&amp;sdata=GePtOJMld%2FrrT
> > > Nk
> > > HQTQRqAUXh6OWIGDv8Ry8p2%2FoMTo%3D&amp;reserved=0
> > >
> > >
> > > Todd Zuercher
> > > P. Graham Dunn Inc.
> > > 630 Henry Street
> > > Dalton, Ohio 44618
> > > Phone:  (330)828-2105ext. 2031
> > >
> > > -----Original Message-----
> > > From: Andy Pugh < <mailto:bodge...@gmail.com%3cmailto:bodge...@gmail.com> 
> > > bodge...@gmail.com<mailto:bodge...@gmail.com>>
> > > Sent: Thursday, December 02, 2021 6:40 PM
> > > To: Enhanced Machine Controller (EMC)
> > > <emc-users@lists.sourceforge.net<mailto:emc-users@lists.sourceforge.
> > > ne
> > > t>>
> > > Subject: Re: [Emc-users] Harmonic Drive
> > >
> > > [EXTERNAL EMAIL] Be sure links are safe.
> > >
> > > > On 2 Dec 2021, at 21:14, Todd Zuercher < 
> > > > <mailto:to...@pgrahamdunn.com%3cmailto:to...@pgrahamdunn.com> 
> > > > to...@pgrahamdunn.com<mailto:to...@pgrahamdunn.com>> wrote:
> > > >
> > > >  What if you used two outer ring gears of the same diameter one
> > > > with one fewer teeth.  Then have 4 sets of planetaries  stacked in
> > > pairs.  Each pair would be pinned together
> > >
> > > You can just use pinions twice as long as the ring gears. I think I
> > > have seen this done
> > >
> > > It would work with all-external gears too.
> > >
> > >
> > >
> > >
> > > _______________________________________________
> > > Emc-users mailing list
> > >  
> > > <mailto:Emc-users@lists.sourceforge.net%3cmailto:Emc-users@lists.sourceforge.n>
> > >  Emc-users@lists.sourceforge.net<mailto:Emc-users@lists.sourceforge.n
> > > et
> > > >
> > >  <https://nam04.safelinks.protection.outlook.com/?url=https%3A%2F%2Fli> 
> > > https://nam04.safelinks.protection.outlook.com/?url=https%3A%2F%2Fli
> > > st
> > > s.sourceforge.net%2Flists%2Flistinfo%2Femc-&amp;data=04%7C01%7Ctoddz
> > > %4
> > > 0pgrahamdunn.com%7C5ce70ebbb0d143330dd508d9bf32e1f5%7C5758544c573f47
> > > ce
> > > bee96c3e0806fb43%7C0%7C0%7C637751048404404837%7CUnknown%7CTWFpbGZsb3
> > > d8
> > > eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7
> > > C3
> > > 000&amp;sdata=pqeO%2FLq%2FcybqqS5iWHkNI2aKp%2BeQi12xvTnziOJVgJA%3D&a
> > > mp
> > > ;reserved=0
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