I have been following Paul Gould for a long time now!! He is my hero when it comes to 3d printed gearboxes!!

Same here, Paul was the first person that got me interested in cycloidals way back when with his early walker work. He publishes his design files as well which is great. He was also responsive when I emailed him with questions.

A lot of torque with a 40:1 gearbox, but seems a little slow due to that. You would have to have an incredibly high KV to make up for the loss of speed in the gearbox. As we know these robot dogs legs have to be very fast and snappy to get that zero G balancing moment in their gait.  I’ll be interested in seeing how this slim version compares to this one.

My gearbox is doing pretty good, its a shame I wrecked that motor, would be nice to get going on more DOFs and to show some tests on speed, torque and precision... But my setup is meant to be for a stationary robot arm and not for a quad! I guess for a quad you would have to go for a combo of planetary and belt or cyclodial and belt! Paul has done some nice Capstan Timing Belts lately!

This one looks great btw...but I dont know if I can do the math to get it right!!

This is a genius design.

If you read down in the description there is an expired patent on a similar design with only three points like a planetary alignment.

[url=https://patents.google.com/patent/US5954611]https://patents.google.com/patent/US5954611

Turns out I haven't commented on this post yet. I'm intrigued and I'm commenting to be updated on the conversation

...welcome to the convo..lots of testing and exploring..!!!