This is my 3D printed harmonic drive (strain wave gearbox). It's easily capable of 10NM torque output and has surprisingly little backlash and deflection even under extreme loads. It may not be metal, but the performance is surprising! It's low profile, durable, and can be used in a few different configurations. And best of all, it's super cheap! The gearbox itself is less than $20, and then just add the price of a stepper to drive it!

If you would like to find out more about this gearbox or get the parts to build your own, the project is fully open sourced and can be found here:
https://github.com/DDeGonge/OSARM/tr...



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