First prototype hypocycloidal gear

For those tracking the forum, there ha been quite a bit of discussion about low backlash gearing.  From a mechanical perspective the joint motor/gear/encoder combo is the one of the toughest problems to solve in non-cartesian robots, especially if one does not want to spend a lot of money.

Recommended by @keithviolette, the Hypocycloidal gear caught my attention because it is low backlash and can be made on a CNC out of Delrin.  I used the script provided by Jeff Lait  to create a .dxf file which I then fed into Autodesk Fusion 360.  I then revived my 3D Printer which has long been not working and printed out the parts.  It works surprisingly well.

I will make the model available to anybody that wants it, just direct message me and I will share it with you or just download the model from Autodesk a360.

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