Cycloidal Actuator

Drive

Rotor → eccentric shaft → discs → output

Running

Input 120 rpm

Input

120rpm

Output

10.0rpm

Rotor angle

0.0°

Output angle

0.0°

Kinematic chain · rotor and eccentric shaft 1 : 1 → discs orbit at 1 : 1, spin at −1 : 12 → six output pins carry the spin to the flange at −1 : 12. Torque × 12 (before losses).

Cycloidal geometry

12-lobe disc on 13 pins · e = 1.2 mm

Live

Top view, output side · disc A solid, disc B outline

Reduction: i = z_c / (z_p − z_c) = 12 / (13 − 12) = 12 : 1
Pin circle: R = 21.0 mm · 13 pins · rollers Ø3.5 mm
Eccentricity: e = 1.20 mm · lobe height 2e = 2.4 mm
Discs: 2 × 4 mm, Ø40.8 mm, 180° + ½ pitch apart
Output: 6 × Ø2 mm pins on Ø31.6 mm PCD · holes Ø4.5 mm (= pin + 2e + 0.1)

Motor & encoder

Outrunner · 18 slots · 20 poles

Live

sin θcos θ θ = 0.0°

Electrical

0°

Pole pairs

Rotor Ø

93.8mm

Diametric ring magnet on the shaft under the driver PCB: one sin/cos cycle per rotor turn, read by the on-board magnetic encoder.

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