Harmonic servo (37800 steps per turn)
Making videos gives me anxiety, but making short clips is no problem.
This is a harmonic-drive servo I'm building. Servos are great because they are everywhere and easy to use. Custom gearboxes are great because they're super strong, have no backlash, and often come with high end sensors. I'm trying to pair these two great flavors together to make the next great MegaServo thing that everyone can use... and get from me!
The ticking sound is caused by a poorly printed pulley. as the timing belt skips over one tooth it makes the tick sound.
In this clip the harmonic drive is rated 13Nm and I'm getting 37800 steps per turn - 1:70 from the gearbox, 20:54 from the timing belt inside, and 200 full steps from the stepper motor. I could switch to 1:32 stepping from the motor and get 1,209,600 steps per turn! ... but my sensor is only 16 bit so going over 32768 steps is not worth it.
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