• Slimmed the walls of the FlexSpline
• Redesigned the outer Wave Generator profile

Both the Wave Generator and the FlexSpline seem to work very well now. I am still struggling with the Planetary Gear box as there is too much internal friction. It seems to be the lowest efficiency part. I am holding back from adding grease until I build out the body of the gearbox to hold the motor properly

The roof of the FlexSpline where the output is still flexes when in motion. I suspect when I attach the output bearing and lid the FlexSpline will become much less flexible and will require redesign.

If the problems with the friction in the Wave Generator come back, I may switch the outer casing to TPU.