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Robotic Actuator EBA-23
NEW UPDATED Version 2024 - Planetary Gears Actuator EBA-23 for NEMA23
The EBA-23 drives NEMA23 motors at a 38.4:1 ratio, and is the higher-torque actuator used in the EB300 and EB310 arms alongside the EBA-17. A higher-torque 120:1 variant is also available (see note below) for builds that need more holding force.
For the model in STEP file https://toolboxrobotics.com/shop
Efficiency Output Torque*
70% (conservative) 33.9 Nm
80% (typical) 38.7 Nm
85% (optimistic) 41.1 Nm
Typically 70–85% for 3D-printed planetary gears due to friction — real-world loss, not just a formality.
Efficiency Force at 200mm**
70% 169.4 N
80% 193.6 N
85% 205.7 N
So the EBA-23 lands around 169–206 N at 200mm, roughly 80% more force than the EBA-17. That's roughly 17.5–20 kg-force equivalent at that point. The NEMA23 has approximately 2.5 times the gross motor torque of the NEMA17, applied through the same gear ratio.
Same caveat as before: this is the actuator's torque capability, not necessarily the maximum your 3D-printed structure can actually survive — worth stress-testing the mount and gear teeth before designing a payload around the full 200N figure.
Your printed gears, shaft, and mounting hardware may fail before the motor's rated torque is reached, especially with PLA/PETG gears under repeated load.
* Calculator based on a standard common model NEMA23 stepper motor of 1.26 Nm.
** Torque to force at your 200mm (0.2m) lever arm.
Tools required for assembly
- Soldering Iron
- Hex key M3
- Hex key M5
Filaments
- 3D filament 1.75, 1KG, ±0.02 mm, PLA+ or ABS or PA-CF.
Materials
- Ball Bearings 6mm 45 PCS
*You can use 6mm plastic balls from airsoft or Chrome steel for the ball bearing. - Synthetic Grease PERMATEX
Hardware
Screws, nuts & washers
- M3 Screws M3x8mm 4 PCS
- M4 Nuts 6 PCS
- M5 Screws M5x12mm 4 PCS
- M5 Spring Washers 4 PCS
- M5 Nuts 4 PCS
Inserts
- M3 Inserts M3x8mm 8 PCS
Electromechanical
- Nema 23 Stepper Motor 1 PCS