It has a very small footpritn, its dimensions are 42x42x15mm (nema17 size x 15mm height).
As you can see the cycloidal is making non continuous movements that makes the second stage to be also non continuous but pulsed.
It has a very small full print and a high torque.
The 'vernier' reducer is like a harmonic and a cycloidal gearbox. I've mixed the two concepts (flexible spline with normal teeth) and eccentric axis to maximize the contact area of the gear with the ring.
The only non 3d printed parts are the screws. Sorry I lied.