Daren Schwenke@Gavin built one, and did a write-up and video about it!
Inlining wordpress videos doesn't work so well, so click here for a direct link.
https://tinkerings.org/2019/04/20/a-planetary-harmonic-hybrid-gearbox/
He also published the files he produced.
In the wild.
A project log for MPRT - Modified planetary robotics transmission
The reduction of strain-wave, but using a 'single' stage planetary gearset.
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