Compact Strain Wave Gear Actuator(s)

Sorry for the incomplete upload.

6 axis robot project: https://hackaday.io/project/165680-3d-printable-6-axis-robot-dauphine

Uploaded the assembly .step file for application integration.

Version 1.0 used a Deep Grove Ball Bearing instead of a Cross Roller Bearing. I just want to see how good the gear teeth meshed with each other.

This is the tooth template I used. It's a double arc profile for additional rigidity of the flex spline.

*Source: https://www.harmonicdrive.net/technology/harmonicdrive

And the meshing analysis: 

*Source: https://www.researchgate.net/publication/290977739_A_harmonic_drive_model_considering_geometry_and_internal_interaction/figures?lo=1