(8:1) 3D Printed Planetary Gear Actuator Module

3d printed 8:1 planetary gear ratio actuator module with VESC firmware based circular motor driver

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This project introduces 3d printed planetary gear actuator. The planetary gear actuator is equipped with a VESC firmware-based motor controller, and the motor controller hardware has also been developed in my other project ( The planet gears have the gear rate of 8:1 and the external diameter is 56mm. The motor used is a Tarot 4008 (330 kv) motor. The 1-stage 8:1 gear rate enables fast motion, good back-drivability and very little gear backlash. The gear design was done by 'Design Accelerator' in Autodesk Inventor. The gears has 14.5deg pressure angle and 25deg Helix angle. The ring gear has 70 teeth, planet gear has 30 teeth, and the sun gear has 10 teeth with gear module 0.65mm. The entire actuator module design file is 'mt4008_Act_Ver8.iam'.


This is correct file for planet gear.

Standard Tesselated Geometry - 1.80 MB - 01/06/2020 at 13:51


001 - 45.00 MB - 09/20/2019 at 07:30


002 - 32.47 MB - 09/20/2019 at 07:30


  • 1 × Tarot 4008 (330kv) Motor
  • 1 × Magnet 6x2.5mm (Diametrically Magnetized)
  • 2 × Bearing 40x52x7 (6808zz)
  • 3 × Pin Φ3 x 22mm (Misumi HPB-3X22-SUS)
  • 1 × 3D Printed Parts

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  • 1
    Full Assembly Video

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Dan Maloney wrote 09/17/2019 at 15:52 point

These look like they might be good actuators for a delta robot. Among other things, of course.

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Dongil Choi wrote 09/19/2019 at 12:35 point

Thanks for your comment. I will make some robot using this.

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