I hope you enjoyed this video and learned something new! If you'd like to support me making more content like this, please consider supporting me on Patreon: www.patreon.com/howtomechatronics

No words can be said to explain how your overall effort and metodology contribute to the world of engineering in a clear and precise way. You are the true example of a leader who add value to the things that surround him. Engineering at its finest!

That's a great bit of engineering..... Things went together beautifully....really enjoyed watching that, thanks for uploading...

Outstanding work! well done and thank you for taking the time to share it with us!

Very well explained in a clear and and concise fashion (finally!). Thank you very much. Did you notice that after you applied the tape (video mark 15:00 ) the outer housing was flexing quite a lot. This is a very interesting set up that allows better than worm gear ratios concentrically. Remarkable!

That's amazing that you can make this with a 3d printer. I'm in the middle of building my own 3d printer and will definitely try making this once I've learnt how my printer works

That drive mechanism is absolutely genius! Love it, weirdly haven't heard about it before. Tickled my mechanical engineering itch so good...

Spiffy! I took a Mechetronics class recently as part of my BSME, and it interested me so much by the end of it that I plan on taking another Mechetronics class as an elective down the road. I'll be following your channel closely!

Not only awesome subject material but this is a tour de force of editing and animation, thanks so much for the huge effort!

Really appreciate the massive efforts that must have gone into creating this one!!

This is incredibly interesting and your presentation is phenomenal. Thank you!!!!

Well done video. I loved the thoughtful explanation and the design of the mechanism was well thought out. Thanks for taking the time to explain.

Really enjoyed this video and learnt so much. It must have been a lot of effort in printing those parts to such accuracy and perfection.

Always wanted to see these gearboxes in action. Thank you for sharing!!

This video is a absolute gem for me! it was clear, direct, w/ excellent examples. Thanks!

If you attach a precision encoder or resolver to the input and output and graph the relationships you will find that harmonic drives have some weird nonlinearities. We were trying to use them for some very high precision robotics applications in the 90s and this gave us big headaches!

Fantastic job explaining everything and bringing everything together, CAD, 3D printing, Arduino, and mechanics. 👍🏻

You explained this concept beautifully. Grateful to you.

THANK YOU I JUST LEARNED SOMETHING NEW. This is fantastic and for explaining the principle so well.

Amazing. This was so fascinating to watch and it made perfect sense. You are incredibly intelligent.

That's actually an incredible explanation of this drive. Thanks

CraftWare slicer has the same parameter like the Horizontal Expansion, but it is called Vertical Shell Offset and I usually set it to 0.07mm for the best results. Thank you for the nice video! Good explanation!

Great job explaining the Harmonic drive. I have been playing Cycloid drives for my little robot 3d printed project. Good fun and learned a lot. Thank you for sharing with us.

Thank you so much! Im fairly new to CNC and thinking of adding a 4th rotary axis to my AVID Pro 4848.Thanks to your Video I now totally understand the mechanics of a Harmonic drive system... OUTSTANDING!!!!!

Thank you... thanks a lot..for making part of your engieering and build

Thank you for this excellent explanation of the strain wave gear. This is starting to show up on Telescope mounts and I was curious to see how they worked. Beautiful 3D build too. I might build one of my own.

That was fantastic. I now understand both the basics of a Strain Wave Gear Drive as well as the inherent complexities of making a specific size drive with little to no backlash. No wonder they're so freaking expensive. Of course, I have to build this now. thanks so much for sharing !!

Amazing! Thank you VERY much for sharing this build!

You did an awesome job explaining this!

"The shape came out decent in the end" That is the most humble understated desciption I've heard all month. Acrylic can be such a pain to work with and your part came out accurate and perfectly shaped even though your used hand tools. Well done on all counts. Really well done indeed. Keep it up :-)

this is one of the most innovative projects i have watched... 1st. the strain wave gear how did anyone ever think of it? 2nd. fantastic 3D printer project 3rd. great arduino project! thanks..:)

THE MOST INFORMATIVE VIDEO ABOUT HARMONIC DRIVE!!! Excellent work!!!

WOW! This is inarguable the BEST video on the HPR motor. Thanks!

Great engineering! Excellent builder! Thank you.. Your amazing

That is amazing. Making my minds eye flash images of a new type of generator

Good explanation Thanks for sharing your knowledge 👍

Ever the best! .. I just can't wait to see what you will do with this harmonic drive in you future projects :)!

I kept saying ‘beautiful’ at the screen. What a nice technology and excellent example!

Incredible effort and explenation.

This is a super explanation and great project 👍

Genuinely one of the coolest builds and videos. Videos and the build files u provide is what reminds me of how great the internet is.

Thank you, that was a great explaination.

Fantastic explanation and great demo. Thanks!

Thanks for sharing such a beautiful mechanism

Informative video and interesting build with nice attention to details. Thank you!

10:20 Deeeez nutz!

These graphics are incredible!!!

Great job my friend, you inspired so many people!

Learned a new thing today....... thanks for your upload

Your videos are excellent. Great projects and your explanations are very clear and concise.

wow, phenomenal video..so glad I found you and subd...looking forward to making that one day

awesome model man! it's better than my models and I'm obsessive af about making them perfect now I really want to make a robot arm

Very nice project ... well explained and illustrated. THANK YOU

excellent presentation... hats off to your homework and efforts.. outstanding. god bless you

Best video on harmonic gears so far

great video, clearly explaining the gears. and sharing the step files, a huge shout out for that.

Superb presentation, thanks!

👍👍 2 thumbs up for you my friend for talking the time and for your patience for explaining it so well. I became a subscriber in just 1 video. Will explore your channel now and hope for more mechatronics & robotics related content in the near future

Wow, I learned so much! Wish I had teachers like you in school way back when :-D

I wish I had your abiblity, to say this is impressive does no justice. Amazing. I now understand how a harmonic drive works :)

This was an awesome descriptive walk through of a design element many could use in robotic applications!

That's pretty cool. Gonna print this tomorrow.

Nice detailed description, really enjoyed it

Beautiful !!! TKS for sharing 👍

Really enjoyed this video, loved the commentary at 10:21

great work, instant subscription! harmonic drives really are an ingeniously simple and elegant mechanism, and the form factor is just perfect for robotics. (wonder how slim you could make a hollow one) but i think for 3D printed projects requiring a lot reduction and torque, the money still is in worm gears and good old linear screw actuators.

Great job. Very interesting. Thanks for sharing.

A very satisfying result, I think. Well done! I can make most of this on my laser cutter - just need to think a bit about solving the flexible spline without a 3D printer. Thanks for the ideas, anyway!

A very nice model of this reduction gear with clear explanation of its construction and reliability. You've prompted users to report their experiences of similar reduction gears in a wide range of applications, which are interesting to read.

Very nice project. Thank you sir

Thank you for posting!!

That’s just beautiful design and construction. I am in awe! I had some questions about the design of the flexspline, but while I was typing them the necessary tradeoffs became apparent. Beautiful design choice with the bearings. Regarding the tape helping, maybe considering the bearings as forming an octagon (were there 8?) rather than an ellipse would suit better. Yes, I know, the teeth still need to mesh.

Great stuff. Nice work.

Fantastic design! Amazing ! Congratulations

That was really interesting and a most excellent explanation 👍🙂

Very good description and design.

Perfect 3D model man.

That was beautiful, thanks.

You are a kind-hearted genius!

What a fantastic and inspiring video thank you sir

Learn something new every day!

Wow.That's a lot of work.Good job.

Amazing work and affort! Thank you! This is the best explanation on youtube about this topic. I'm feeling like I have to do the same with my projects (:

Wait a second, that’s so simple! Thanks for showing the engineering behind the harmonic drive.

Thanks so much for sharing ❤️

Incredible design!

Greatly executed video! Mantul gan!! Terniat!!

thank you, many times, great video

One question - are you planning to reproduce this gear and build a robot out of it? This is absolute top-notch quality in designing and in video production. The ability to keep off-the-shelf components as the basis of a design and to make things affordable and achievable for young audiences is an under-appreciated and immensely valuable part of this. Please keep up these videos.

Thank you sir 👍, well done

This was a GREAT video, and probably the best explanation with visuals on how strain wave works! How robust do you think it is? (Like Will it survive 50 hours, or 1000 hours of operation?) Maybe only the gears would need replacing?

Great job! I can't wait to see where you take your design. Which design aspects are you optimizing for? Backlash? Output Torque? This kind of system should be able to produce very high gear torque as it goes as the square of the ratio. So, a 35:1 reduction should (theoretically) provide1,225x the torque of the motor alone in exchange for reducing the speed that same amount. That's enormous!

Brilliant, great video and very informative.

Best explation ever. Great visualisation, can see the effort that was put in it. But I have too many questions. 1. Can it be used as high torque lowspeed to low torque higher speeds? ( Just like normal gear box using in both the direction) 2. What if we use very high speed motors ( drone motors) as input? 3. Can flexible inner teeth made of aluminum withstand higher input rpm? 4. Efficiency and heating? I have lot more to ask but just need these answers. I know these are a bit weird questions, just want to compare with other models of gear boxes. BTW you got a new subscriber... All the best for future videos and lots of love from India.

Really superb video. Thanks :)

Really enjoyed theory and implementation

Very good video.

It's amazing. Help me alot... 😊

Congratulations! Perfect project. I'm going to build the same in a cnc mill. Out of steel.

I built this gear from your work, thanks!