Planetary Gear Train For Robots Plus Connection

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Here is a summary of my remix project. I took the inspiration from https://www.thingiverse.com/thing:841424, an epicyclic gearing train design. After making some modifications, I sealed it with plastique grease to make it smoother and stronger. This upgrade allows me to integrate it into my robot system without worrying about worm gear failures. My ultimate goal is to create a connection that can operate independently of any worm gear constraints. To achieve this, I'm using a high-torque servo motor from CYS-S8218 on eBay, which provides 60A of power and can handle up to 40KG of load.