This compound cycloidal drive is a novel take on the standard cycloidal gearbox, the focus being on the fact that the entire system exists within one "layer". This design utilizes what is effectively an "inside out" cycloidal drive to act as the shaft of a secondary cycloidal drive. This technique can also be used to easily design compound cycloidal drives with three or more stages. This design is also distinctly different from twostaged cycloidal drive, one of the key differences being that the reduction is calculated by simply multiplying the reduction of each "ring".

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