Elliptical wave generator · PETG flex spline · FOC · 100 mm lever arm. Gearbox 1 is the 260704/260705 unit (tightened, then further super-tightened output spline). Gearbox 2 is a second printed unit (white filament) tested fresh off the printer, then again ("notfresh") after further running-in, at both 0.7 A and 1.4 A. The no-gearbox baseline is shared across all runs. Raw load-cell counts scaled ×980.7 to N·m (same factor as prior reports).
| Configuration | Steady-state (N·m) | Peak (N·m) | 10–90% rise (s) | Duration (s) | Samples |
|---|---|---|---|---|---|
| No gearbox, 0.7 A | 0.219 ± 0.004 | 0.224 | 0.27 | 30.0 | 3000 |
| Gearbox 1, tightened spline (260704), 0.7 A | 2.372 ± 0.046 | 2.595 | 0.03 | 17.9 | 1794 |
| Gearbox 1, super-tightened spline (260705), 0.7 A | 2.552 ± 0.043 | 2.833 | 0.03 | 18.6 | 1860 |
| Gearbox 2, fresh, 0.7 A | 2.320 ± 0.037 | 2.595 | 0.03 | 21.9 | 2186 |
| Gearbox 2, notfresh, 0.7 A | 2.083 ± 0.037 | 2.282 | 0.03 | 29.1 | 2914 |
| Gearbox 1, tightened spline (260704), 1.4 A | 3.009 ± 0.059 | 3.308 | 0.10 | 20.6 | 2059 |
| Gearbox 2, notfresh, 1.4 A | 3.288 ± 0.062 | 3.528 | 0.08 | 14.9 | 1497 |
Steady-state = median of samples above 50% of peak; ± is one standard deviation over that plateau. Torque multiplication and efficiency are each computed against the shared no-gearbox 0.7 A baseline (ideal ratio 20:1).