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 Updates! 4/27/17-Made another version of this with a higher gear ratio, they are 100% compatible <a href="http://www.thingiverse.com/thing:2277105" rel="nofollow">http://www.thingiverse.com/thing:2277105</a> -- might not be released yet...
<iframe src="https://www.youtube.com/embed/1DNgqtoJMdk" width="560" height="315" frameborder="0" allowfullscreen="allowfullscreen"></iframe> 
4/14/17- The D-Shaft Hole was not perfectly centered on the one piece sun. Fixed this issue with One Piece sun V2. Uploaded the Rotating Base <a href="http://www.thingiverse.com/thing:2166517" rel="nofollow">http://www.thingiverse.com/thing:2166517</a>
2/27/17- I designed a one piece sun gear for this, one version with a large drive gear on it and one version with a 5mm D shaft hole, the one piece sun gear is compatible with the 3 &amp; 4 module planet gears. if your using the 4th module you may choose to use the #2 sun gear in module 4 in conjunction with this. Using the one piece sun is a good upgrade for this as it cuts down on backlash.
I designed this gearbox for my Modular Robot Arm Project, check it out! : Original model: <a href="http://www.thingiverse.com/thing:2105057" rel="nofollow">http://www.thingiverse.com/thing:2105057</a> EZ Print model: <a href="https://www.thingiverse.com/thing:2153317" rel="nofollow">https://www.thingiverse.com/thing:2153317</a> Lazy Susan Base: <a href="http://www.thingiverse.com/thing:2186716" rel="nofollow">http://www.thingiverse.com/thing:2186716</a>
Both models are 100% compatible with this gearbox (&amp; the 66.46:1 gearbox) and each other
Assembly ------------------------------------------------------------------------------------
Align the planet gears in order as shown in the main picture, insert a sun gear, Snap Ring Gear #1 on, Inset all sun Gears, snap the other 2 or 3 ring gears on, also, you will need to close the gap in the rings before you spin this gearset or else it could skip teeth and get out of alignment, for this i have included the ring closures, that fits over all the rings
For any instructions i may have missed, please refer to this : <a href="http://www.thingiverse.com/thing:2081324" rel="nofollow">http://www.thingiverse.com/thing:2081324</a>, this gearbox is very similar in concept.
How it works ------------------------------------------------------------------------------------------
When you rotate Sun Gear #1 (The sun Gear with the D-Shaft hole) The Planet gears orbit that gear causing Sun Gear #3 to rotate at the exact same speed as Sun Gear #1
Now, When the Planet Gears make a full 360 Degree rotation around the Sun Gears, Ring Gear #2 ( and the Optional Ring Gear #4) will move 27.7 Degrees, ( 2 Teeth)
The other important thing to realize here is that Ring Gears #1 &amp; #3 will be at the same potential and Ring Gears #2 &amp; (Optional #4) will be at the same potential
The use of Ring Gear #4 and the 4 Module Planet Gears is optional and used to increase the amount of torque this gearbox can transfer, as well as to decrease the amount of (radial?) load on each gear, think of it like a door hinge. When you use the 4th module you should re-use Sun Gear #2 to space out the planet gears within Module #4
////----------////----------How to Design your own--------////----------////----------////---------- If you would like to design a gearbox like this to integrate into your own project, just follow these somewhat complicated and poorly written instructions.
You will need two planetary gear sets, the closer the number of teeth, the higher the output gear ratio will be. The following design constraints are very important:
But First, design tips:
<ol>
<li>The more planets, the harder it is to meet all the constraints.</li>
<li>using gears with lots of teeth can achieve very high gear ratios(500:1+), and higher ratios than i have designed have been achieved by others, such as Emmet.</li>
<li>Gears with a lower pressure angle have much less friction, and last longer, but aren&apos;t as strong. I am experimenting with newer designs with 20 deg pressure angle and they&apos;re very promising.</li>
</ol>
You will need to study the gear tooth combinations that work properly in a planetary gearset, keep in mind that not every combination of gears will fit together, and not every combination that fits together will allow for evenly spaced planets (and that IS necessary), to find gear combinations that fit these two design requirements, use these two equations.
For Figuring Gear Combinations that fit together: Teeth_Sun + (Teeth_Planets*2) = Teeth_Ring_Gear
For figuring if the planets (pinions) can perfectly evenly spaced: (No_of_teeth_sun + No_of_teeth_Ring) / Number_of_planets. has to be integer. (Whole Number) for both Planetary Gearsets
Keep in mind that those two equations will not prevent you from making planet gears that overlap, heres a quick tool for that: <a href="http://www.thecatalystis.com/gears/" rel="nofollow">http://www.thecatalystis.com/gears/</a>
Once you have decided on a number of planets and your two planetary gear combinations that you would like to use you need to model the gears, You will need to go off into your CAD program. When modeling the gears the most important design constraint is keeping the planets from each gearset at the same center to center distance.
Use the following equation to align the planets from the two planetary gearsets with one another: Planetary Gearset #1 (Sun Gear Pitch Diamerer + Planet Gear Pitch Diameter) Must be equal to: Planetary Gearset #2 (Sun Gear Pitch Diamerer + Planet Gear Pitch Diameter)
you can set the pitch Diameters equal in your cad program by adjusting the module(the number of teeth per mm) of one planetary gearset in contrast to the other. FYI the pitch diameter of a gear is the size of the circle that is made when it meshes with another gear. I.E. if the gear was a cylinder, rolling against another cylinder.
For More Cool Projects and Upgrades, Don&apos;t forget to Follow Me on Thingiverse and Subscribe to my Youtube Channel, Gear Down For What?<a href="https://www.youtube.com/c/GearDownForWhat">https://www.youtube.com/c/GearDownForWhat</a>
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Epicyclic Planetary Gearbox 43.3:1 No Hardware, Less Backlash NEMA 17

 Updates!4/27/17-Made another version of this with a higher gear ratio, they are 100% compatiblehttp://www.thingiverse.com/thing:2277105 -- might not be released yet... 4/14/17- The D-Shaft Hole was not perfectly centered on the one piece sun. Fixed this issue with One Piece sun V2.Uploaded the Rotating Base http://www.thingiverse.com/thing:2166517 2/27/17- I designed a one piece sun gear for this, one version with a large drive gear on it and one version with a 5mm D shaft hole, the one piece sun gear is compatible with the 3 & 4 module planet gears. if your using the 4th module you may choose to use the #2 sun gear in module 4 in conjunction with this. Using the one piece sun is a good upgrade for this as it cuts down on backlash. I designed this gearbox for my Modular Robot Arm Project, check it out! :Original model: http://www.thingiverse.com/thing:2105057EZ Print model: https://www.thingiverse.com/thing:2153317Lazy Susan Base: http://www.thingiverse.com/thing:2186716 Both models are 100% compatible with this gearbox (& the 66.46:1 gearbox) and each other Assembly ------------------------------------------------------------------------------------ Align the planet gears in order as shown in the main picture, insert a sun gear, Snap Ring Gear #1 on, Inset all sun Gears, snap the other 2 or 3 ring gears on, also, you will need to close the gap in the rings before you spin this gearset or else it could skip teeth and get out of alignment, for this i have included the ring closures, that fits over all the rings For any instructions i may have missed, please refer to this : http://www.thingiverse.com/thing:2081324, this gearbox is very similar in concept. How it works ------------------------------------------------------------------------------------------ When you rotate Sun Gear #1 (The sun Gear with the D-Shaft hole) The Planet gears orbit that gear causing Sun Gear #3 to rotate at the exact same speed as Sun Gear #1 Now, When the Planet Gears make a full 360 Degree rotation around the Sun Gears, Ring Gear #2 ( and the Optional Ring Gear #4) will move 27.7 Degrees, ( 2 Teeth) The other important thing to realize here is that Ring Gears #1 & #3 will be at the same potential and Ring Gears #2 & (Optional #4) will be at the same potential The use of Ring Gear #4 and the 4 Module Planet Gears is optional and used to increase the amount of torque this gearbox can transfer, as well as to decrease the amount of (radial?) load on each gear, think of it like a door hinge. When you use the 4th module you should re-use Sun Gear #2 to space out the planet gears within Module #4 ////----------////----------How to Design your own--------////----------////----------////----------If you would like to design a gearbox like this to integrate into your own project, just follow these somewhat complicated and poorly written instructions. You will need two planetary gear sets, the closer the number of teeth, the higher the output gear ratio will be. The following design constraints are very important: But First, design tips: The more planets, the harder it is to meet all the constraints. using gears with lots of teeth can achieve very high gear ratios(500:1+), and higher ratios than i have designed have been achieved by others, such as Emmet. Gears with a lower pressure angle have much less friction, and last longer, but aren't as strong. I am experimenting with newer designs with 20 deg pressure angle and they're very promising. You will need to study the gear tooth combinations that work properly in a planetary gearset, keep in mind that not every combination of gears will fit together, and not every combination that fits together will allow for evenly spaced planets (and that IS necessary), to find gear combinations that fit these two design requirements, use these two equations. For Figuring Gear Combinations that fit together:Teeth_Sun + (Teeth_Planets*2) = Teeth_Ring_Gear For figuring if the planets (pinions) can perfectly evenly spaced:(No_of_teeth_sun + No_of_teeth_Ring) / Number_of_planets. has to be integer. (Whole Number) for both Planetary Gearsets Keep in mind that those two equations will not prevent you from making planet gears that overlap, heres a quick tool for that:http://www.thecatalystis.com/gears/ Once you have decided on a number of planets and your two planetary gear combinations that you would like to use you need to model the gears, You will need to go off into your CAD program. When modeling the gears the most important design constraint is keeping the planets from each gearset at the same center to center distance. Use the following equation to align the planets from the two planetary gearsets with one another:Planetary Gearset #1 (Sun Gear Pitch Diamerer + Planet Gear Pitch Diameter) Must be equal to: Planetary Gearset #2 (Sun Gear Pitch Diamerer + Planet Gear Pitch Diameter) you can set the pitch Diameters equal in your cad program by adjusting the module(the number of teeth per mm) of one planetary gearset in contrast to the other.FYI the pitch diameter of a gear is the size of the circle that is made when it meshes with another gear. I.E. if the gear was a cylinder, rolling against another cylinder. For More Cool Projects and Upgrades, Don't forget to Follow Me on Thingiverse and Subscribe to my Youtube Channel, Gear Down For What?https://www.youtube.com/c/GearDownForWhat 

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