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Cycloid Joint Output Arm
The 141 mm output link for the 'NEMA17 Cycloidal Joint Actuator' kit. It is 8 mm thick and has a pocketed I-section beam. Its Ø50 hub pad bolts to the carrier's M3 heat-set inserts with 4 M3 screws through Ø3.4 holes on a Ø36 circle, and a Ø8 centre relief hole clears the shaft or bearing. The 32 x 32 tip pad 100 mm out has 4 Ø3.4 holes on a 20 x 20 mm square (MGN12H pattern) for a gripper, sensor or the next joint.
Cycloid Retainer Cover Ring
The Ø96 x 6 mm lid ring for the 'NEMA17 Cycloidal Joint Actuator' kit. Its flat underside traps the Ø60 output flange and caps the sixteen 5 x 18 mm steel ring pins. The Ø50.6 bore (chamfered 0.6 mm on top) runs as a plain bearing around the Ø50 output boss. Four M3x30 SHCS pass through Ø3.4 holes on the R42 stack circle and clamp the stack together.
Six-Pin Output Carrier
This is the rotating output flange of the 'NEMA17 Cycloidal Joint Actuator' kit. It has a Ø60 x 6 mm flange that sits under the cover lip and a Ø50 x 9.5 mm boss (15.5 mm tall overall). On the underside it takes a 625 bearing (5 x 16 x 5) in a Ø16.05 x 5.2 pocket and six 5 x 14 mm steel output pins pressed into Ø5.0 x 5.5 blind holes on a 21 mm radius. The top face has four M3 brass heat-set inserts (Ø4.0 x 6) on a Ø36 circle for bolting on the output arm or your own payload.
15-Lobe Cycloidal Disc
The 15-lobe reduction disc (about Ø66 x 9 mm) for the 'NEMA17 Cycloidal Joint Actuator' kit. It rolls against sixteen 5 mm steel ring pins on a 34 mm pitch radius with 1.5 mm eccentricity, giving a 15:1 reduction. Its Ø24.6 chamfered centre bore runs greased on the Ø24 eccentric cam. Six Ø8.4 through-holes on a 21 mm radius drive the six 5 x 14 mm steel output pins of the carrier.
Eccentric Input Cam
This is the input eccentric for the 'NEMA17 Cycloidal Joint Actuator' kit. It clamps onto a NEMA 17's 5 mm shaft through a Ø5.2 bore, using an M3 set screw that threads into a captured M3 hex nut. Its Ø24 lobe sits 1.5 mm off-centre and drives the 15-lobe disc. The part is 30 mm across and 10.5 mm tall, and the Ø30 thrust collar holds the disc up.
16-Pin Cycloid Ring Housing
This is the ring-gear housing for the 'NEMA17 Cycloidal Joint Actuator' kit. It is a Ø96 x 18 mm ring that holds sixteen 5 x 18 mm steel dowel pins in Ø5.3 through-grooves on a 34 mm pitch radius, and clamps between the base plate and the cover with four M3x30 SHCS through Ø3.4 holes on the R42 circle. The disc lobe tips reach r 34.3 mm, so the Ø68 bore is relieved to Ø69.4 across the disc zone. Ø66 lips at the top and bottom wrap each pin about 224° so the pins can't fall inward.
Cycloidal Motor Base Plate
The 96 x 96 x 8 mm foundation plate of the 'NEMA17 Cycloidal Joint Actuator' kit. It bolts to a NEMA 17 stepper with 4 M3x8 screws on the 31 mm square, sunk in Ø6.5 counterbores, and has a Ø22.4 pilot recess and a Ø16 shaft hole. It takes 4 M3 brass heat-set inserts on the R42 stack circle to clamp the ring housing and cover, and has 4 Ø5.5 M5 holes at ±40 mm for mounting to 2020 extrusion. The top face stays flat inside Ø96 so the rolling 5 mm ring pins have a smooth surface to run on.
NEMA 17 Cycloidal Reducer Cartridge
A 16:1 single-disc cycloidal gearbox that bolts directly to a NEMA 17 face (31 mm square M3 pattern, 22 mm pilot boss recessed, 5 mm shaft), giving a hobby robot joint high reduction and low backlash in a 66 mm dia x 22.5 mm stack instead of a €1000 harmonic drive. It prints as four nested pieces in one job — pin housing, cycloidal disc with six 6 mm output pins, eccentric cam with an M3 grub screw, and an output carrier with three M4 mounting holes on a 38 mm circle.