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Well, the problem with designing planetary gearboxes have always been one of getting rid of the heat and getting the lubricants to all the necessary places. Anyway, I'm impressed that you can get the ratio in a single gear pair. I agree you'll get around a lot of problems by using a simpler gearing arrangement, if you can get the size and gear wheel inertia to be similar to the planetary gears, that would be awesome.
Very impressive!
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