Closed loop harmonic drive
thingiverse
Small compact 3d printed closed loop harmonic drive. The flex spline should be printed with flexible material for optimal performance but works with standard PLA at 100% infill. The harmonic drive has the option to mount a potentiometer/encoder which makes the actuator closed loop and allows for precise position control. A simple PID controller can be implemented to go from open loop to closed loop. Feel free to message me with any questions!
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