The Ironless-QDD-Actuator is a low-cost, high-torque, fully 3D-printed quasi-direct-drive actuator for robotics projects. Using a Halbach array for an ironless rotor and a 3D-printed cycloidal planetary gearbox, it delivers up to 29.4Nm of holding torque for ~$70 (with controller). All custom parts are 3D-printable, making it ideal for makers and hobbyists.
- Low Cost: ~$40 (actuator), ~$70 (with controller)
- High Torque: 29.4Nm holding torque
- Fully 3D-Printed: No machining required
- Ironless Rotor: Halbach array for high efficiency
- Zero Backlash: Cycloidal gearbox for precision
For detailed design, assembly, and testing info, see my blog post:
https://cadenkraft.com/ironless-cycloidal-planetary-actuator/
- CAD files for entire actuator
- FEMM simulation files
- Bill of Materials (BOM)
- ODrive configuration for MKS X Drive Mini
MIT License
Permission is hereby granted, free of charge, to any person obtaining a copy of this project and associated files to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies, provided the following notice is included:
Credit: Caden Kraft (GitHub: CKraft11)
Feedback and contributions are welcome! Submit issues or pull requests on GitHub. If you use this actuator, please share your project!