While developing a quadruped robot to improve technical skills, the need for a high-torque and compact actuator became apparent. To address this challenge, I developed the "Internal Cycloidal Drive," which integrates an outrunner BLDC motor, a cycloidal reducer, and a driver into one unit.
In particular, the joints of a quadruped robot experience significant impact when landing, making the high rigidity and durability of the cycloidal mechanism an optimal choice. This design achieves an efficient and reliable actuator.
View on GitHubCycloidal gears offer high torque and excellent impact resistance, but they also present challenges such as vibrations at high speeds and complex shape processing. To address these issues, I adopted a structure that combines two cycloidal discs in reverse phase, reducing vibrations caused by eccentric motion. Additionally, advanced 3D printing technology was utilized to ensure high-precision parts.