Archive: https://archive.today/hP2G8 From the post: >>Cycloidal drives are a type of speed reducer that are significantly more compact than gearboxes, but they still come with a fair number of components. In comparison, the harmonic pin-ring drive that [Raph] recently came across as used in some TQ electric bicycles manages to significantly reduce the number of parts to just two discs. Naturally he had to 3D model his own version for printing a physical model to play with.