Planetary Roller Robot Actuator 44:1

Work in progress (awaiting parts - some of which have arrived to rekindle my interest). Not ready for printing as I just realized the "ring" teeth won't clear the center spacers of the "planets" of the top and bottom layers. Was thinking of ditching that anyway and just running a pin through the center supported by bearings on the carrier.

An idea for a robot actuator I'm cooking up. Split-ring compound planetary gear system which uses bearings instead of gear teeth to eliminate the source of the huge inefficiency typical of these gearboxes.

Print the ring gears in assembled positions (in place) otherwise you won't be able to assemble them due to the integrated plain bearing surface. Using 0.2mm layer height, a one-layer gap should separate them and be easily de-laminated post printing using a sharp edge. The outer arm could easily be split down the middle for assembly with screws but I'm trying to minimize hardware for now.

HK0306 Bearings and M3 steel dowel pins of 12mm, 18m