TL;DR - A 3D printed gearbox for NEMA17 stepper motor. High torque and Small volume. Project is still a WIP as I try to find perfect size and gear ratio to be able to fit into my main project, 6DOF ...

Aside from a pneumatic gripper, each axis is driven by a stepper motor, with at least a few of these axes being driven through a metal planetary gearbox for extra precision and torque.

In those mechanisms, a high-torque, low backlash gearbox might be just the thing, and a 3D printable split planetary harmonic ... leading to almost 100:1 reduction. We think the ‘harmonic ...