Cycloidal Robot Actuator

This compound cycloidal drive is designed for 35mm "tin can"-style stepper motors. It has two stages, yielding a 49:1 drive reduction. The flat package and integral slew bearing (using 6mm dia. Airsoft BB's) on the output plate make it great for robotic applications.This gear reducer is very similar to my compound planetary robot actuator (https://www.thingiverse.com/thing:3293562). This cycloidal version is simpler and easier to print, but the high-speed eccentric motion of the cam does introdu