Cycloidal Gearbox

Purpose

With an overarching goal of building a 6DOF Robotic Arm, the first two things I wanted to understand was how a cycloidal gearbox worked and why it was frequently chosen as the gearbox of choice for most robotic arms. 

Bill of Materials

40x52x7mm Bearings 2RS x2

10x15x4mm Bearings 2RS x2

12x18x4mm Bearings 2RS x2

M3x4mmx25mm Shoulder Bolts x6

M3x8mm Countersunk Bolts x4

M3 Nuts x6

M4x6mmx10mm Aluminium Rollers x6