This is an highly experimental test, a sketch really, for a 3D printed differential wrist. I'll share the OpenSCAD file for hacking and educational purposes. I'm not going to develop this anymore and it is to be replaced by an improved version latter on. i'm using the wonderful library "OpenSCAD gear generator": https://github.com/chrisspen/gears https://www.youtube.com/watch?v=JI7P6k4t3Ws&lc=UgzTyaWl-iG3967k7X14AaABAg Happy hacking!