Harmonic Drive

Harmonic Drives (Strain Wave Gearbox) offer a high gear ratio, precise transmission with no backlash, low noise, and a small form factor, making them a great option for robotic applications. However, the price of harmonic drives could be quite unaffordable and the shaft design is usually not customizable. Therefore, I present a mostly 3D-printed harmonic drive for both NEMA17 and NEMA23 stepper motors. Tolerance is fine-tuned for BambuLab P1S and BambuLab PETG Basic. Parts should fit perfectly t