3D Printed Planetary Wheel Hub Drive for Rover & Robot Projects
by edosari50 in Circuits > Robots
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3D Printed Planetary Wheel Hub Drive for Rover & Robot Projects
In this project, I designed and built a fully 3D printable planetary wheel hub drive system for small rover and robot platforms.
Unlike traditional wheels, this design uses a planetary gearbox integrated directly inside the wheel hub. The outer wheel rotates on a ball-based bearing system, while the internal gear structure transfers torque efficiently.
The system is compatible with stepper motors or 5 mm shaft DC motors and is ideal for DIY robotics, experimental platforms, and custom rover builds.
You can watch the full build and testing process in the video below.
This project can be used in DIY robotics, rover platforms, and experimental mechanical designs.
Supplies
- 3D printed parts (provided in project files)
- 4.5 mm steel balls (for bearing system)
- Stepper motor or 5 mm shaft DC motor
- TB6600 stepper driver (or compatible driver)
- Arduino Uno / Nano
- Basic screws and fasteners
- Hex keys / screwdrivers
Optional:
- Lubrication grease for smoother motion
3D Printing Settings
Recommended settings:
- Layer height: 0.16 mm
- Infill: 30–45%
- Material: PLA or PLA+
- Print speed: Moderate (especially for gears)
Important:
Ensure good dimensional accuracy for gears and bearing parts for smooth operation.
Assembly
The wheel uses a ball-based bearing system.
- Place 4.5 mm steel balls evenly inside the bearing track
- Insert the inner and outer ring parts
- Check for smooth rotation before continuing
Tip:
If movement is tight, lightly sand or adjust tolerances.
Make sure all gears rotate freely without binding.
- Connect the stepper motor to the TB6600 driver
- Connect the driver to Arduino
Basic setup:
- PUL → Arduino step pin
- DIR → Arduino direction pin
- GND shared
(Refer to wiring diagram in project files)
Arduino Test Code
This project includes a simple Arduino test code for TB6600 stepper driver.
- Upload the code to Arduino
- Start with low speed
- Verify smooth rotation before increasing speed
Controls:
+ → Increase speed
- → Decrease speed
F → Forward
B → Backward
S → Stop
This code is intended for testing and demonstration purposes.