This week we fully assembled our first R120 Joint. The new Wolfrom drive proved to be the better choice as opposed to the cycloidal drive. This drive runs way smoother. The flaw seems to have been in the design of the differential cycloidal drive.

The Cycloidal drive has been fully manufactured and assembled. It contains brass bushings as bearings and stainless steel lasercut cycloids. Testing proved this drive is not up to the task. The vibrations make it completely unsuited for this application.