drive.magic

Open-hardware harmonic (strain wave) drive actuators, and the tools to design them. Printable gearboxes with real measured data — no gatekeeping.

Pages

• index.html — landing (actuators · harmonic maker · measured)
• actuators.html — drive index (HDP30 current, HD20 archived)
• hdp30.html — 30:1 pancake harmonic drive, NEMA 17, ~$4 hardware
• hd20.html — archived 20:1 drive (the only one with load-cell data)
• hd20-torque-test.html — full HD20 load-cell report (Plotly)
• gearmaker.html — parametric harmonic drive tooth profile generator (cycloid / S-tooth, cup / pancake, DXF export)
• learn.html — harmonic drives, plainly

Run locally

python -m http.server 8080

then open http://localhost:8080

Stack

• Plain HTML + CSS + vanilla JS — no build step, no framework
• js/ctp-revB.js — clean-room cycloid tooth profile solver (Yao et al., Actuators 2025, 14, 187)
• js/dxf.js — DXF export
• js/gearmaker.js — the maker UI
• js/bom.js — renders data/*-bom.json (local snapshot, no external fetch)

License

CC BY-SA 4.0 for the hardware; MIT for the code.