The Wobble Ring Stepping Motor MK1

Edit: This thing has been upgraded!
http://www.thingiverse.com/thing:52299


This is my humble start on an actuator that could be mostly printed on a 3d printer. Incomplete as it is, I thought I'd post it as it developed.

It is based on this:
http://www.act.sys.okayama-u.ac.jp/kouseigaku/research/okamoto_wobble_06/english.htm
Instead of air chambers, I plan on rolling my own solenoids, eventually.

It also uses hypo-epicycoidic gearing, based off this:
http://www.thingiverse.com/thin