/ gouldpa00  
25:1 Triple Disk Cycloidal Gearbox
Open Source
It is 2Kg load @ 0.2m with 25:1 ratio. Peaks of 2A @ 12V.
https://www.thingiverse.com/thing:388...
It's my own ESC desgn and AS5147 magnetic sensor. The precursor to this https://hackaday.io/project/165217fo...
Music (Youtube)
Clover Vibe Mountain
Yummu Text Me Records / Leviathe
Happy Sixth Freedom Trail Studio