Robot joint gear strong 123:1 with herringbone

This is the latest design I create to get a strong robot joint by using NEMA17 Stepper motor.
You have to print 4 pcs Sun_and_3xPlanet.stl .
I just added a little smaller sun to lower friction.
Other way is to scale the original by 0.97 in x and y, this will get also a bit tighter stepper fit.

Short test run:
https://youtu.be/D0rOprXt0t4

Gears used:
Sun gear: 26
Planet gear: 26
Output Gear: 100
Input Gear: 97

Ratio strain wave: 100/3 = 33
Ratio Planet: 97/26 = 3.73
Ratio Tota