Today I did a quick assembly so I could test the drive system before CNC milling the last parts. Very quite drive (the noise is coming from my Raise3D printer running in the background)

I will 3D print a larger pulley for the shaft reducing the RPM even more. 

Here is the Pulley design. Diameter 105mm, 80T. This on the limit on what I could fit within the robot. Lets see

Visit http://valify.se for more info of the project.