Harmonic Driver Version 2

After testing Version 1, I corrected the fundamental issues encountered in that version. This is Version 2 of the Harmonic Drive gearbox, which I designed with a gear ratio of 1:30. The key improvement in this version is the addition of two 3D-printed bearings, utilizing 4mm stainless steel balls. This design has proven effective in stabilizing the output gear without hindering its rotational movement. This second version is highly stable and can be applied to real-world robotic systems. I am very satisfied with the design of this gearbox. After assembling this version, I identified a minor issue that needs improvement. The wave generator experiences a delay of about 10–20 degrees before it begins to transmit motion to the flexspline. This could introduce a slight inaccuracy in the output. Thanks for your attention. Like and Follow to saty updated on future projects.