If anyone is interested in the files, one can download it in this github repository.

One can find following files:

• Design files (Solidworks 2017)
• Printable files (STL)
• Transfer files (STEP)

If anyone is interested in contributing one can send me a direct message or leave a comment.

ToDo:

• update wave generator
• change teeth design (steeper angles for less backlash)
• patent and licence research (igus is the likeliest competitor)
  • if possible: replaceable circular spline
• destructive Test
  • what is the highest possible torque to be moved by the stepper motor
  • what ist the highest possible torque to be applied to the gear before braking
• get a concept to add a rotary encoder