I've been working on a quadruped robot for a few years now and I'm trying to design the best possible leg actuator. Along the way I discover interesting designs, as part of the open source community, I like to share those designs. Here is my NEMA 17 (or NEMA 23) powered joint for a robot arm.
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/triple-cycloidal-gear-robot-arm