3D Printed Harmonic Drive for Legged Mobile Robots

This paper will present the design and construction of a harmonic drive used in the actuation of a legged mobile robotic platform. The main advantage of this type of application is the minimal backlash, which is important for the precise positioning of the platform, also allowing high reduction ratios, in a compact form. The design also takes advantage of some of the latest additive manufacturing techniques, which have become easily accessible in the last few years. Most components are made from polymer materials, constructed using commercially available 3D printers.