P.Harmonic Drive - hybrid planetary/harmonic drive

This is a demonstration of a hybrid planetary/harmonic-like gear reducer.  This is really just a variant of a compound planetary gear head, where the flexing ring takes out most of the backlash.  A 3D printed flexing structure couples the flexible gear to the rigid output ring.  The overall reduction ration is 155:1.  Get the files to print your own, along with my other things at: https://www.thingiverse.com/LoboCNC/d...