Cebulatron robot arm second axis

This actuator is second (and third) axis for 6-axis robot arm but can be used in many other applications where you need a rotational move. For the robot arm you need 4 of them but only two AxesJoints. To drive I used one Nema 23 stepper motor, with 3d printed planetary gear.

BOM:
1x 61810 Ball bearing (50x65x7)
8x M3x14 DIN 912 hexagon socket head cap screws
8x M3x10 DIN 912 hexagon socket head cap screws
6x M3x20 DIN 912 hexagon socket head cap screws
2x M5x80 DIN 912 hexagon socket head cap screws
2x M4x15 DIN 912 hexagon socket head cap screws for mounting motor (1x Nema23)
2x hexagon socket flat countersunk head screw M4x10 for belt tensioning
2x M4 nuts
2x M5 nuts
12x M3 nuts
6x M3 washers
4x M3 square washers
3x Ball bearings 605 (14x5x5) for belt tensioning
T5 timing belt
10 teeth T5 pulley
Nema stepper motor
4x M6 DIN 912 hexagon socket head cap screws for mounting full assembly to the ground
RAMPS 1.4 or another board to control the motor