• Theoretical ratio 5:1 

• Designed the gears myself in SolidWorks using parametric equation to create an involute curve. 

• Added mounting holes as well as bearing holders

• Added bigger bearings to the planet gears

• Better color scheme

• Same as V2 but better tolerances with the 3D printed parts

• Original NEMA 17 holding torque = 45 Ncm

• Planetary actuator holding torque = 196.2 Ncm

• Efficiency = 87.2%

Parameters: 

-> Current = 0.966 A

-> Mass = 2 kg

-> Motor driver = A4988 (rated 1A max)

Stepper motor was driven using A4988 motor driver which is rated for a max 1A current.