Edit: This thing has been upgraded! http://www.thingiverse.com/thing:52299This is my humble start on an actuator that could be mostly printed on a 3d printer. Incomplete as it is, I thought I'd post it as it developed.It is based on this: http://www.act.sys.okayama-u.ac.jp/kouseigaku/research/okamoto_wobble_06/english.htm Instead of air chambers, I plan on rolling my own solenoids, eventually.It also uses hypo-epicycoidic gearing, based off this: http://www.thingiverse.com/thing:28237 And it should move like this: http://www.youtube.com/watch?v=UayBAHJQE_k But instead the outer ring 'wobbles'.The wobbleRing is 1 tooth larger than the drivenGear(51/50). This allows for 2.4 degrees between solenoid steps(360 / (50 * 3)). But that's with just one of the 3 solenoids pulling at a time.Now why did I use cycloidic gearing? Well, I understand they wear a little slower for this application. Also I was really having a time getting the MCAD library to work. Please correct me if there is a better gear profile for this application.I do also appreciate any constructive critism, as this is my first openscad project.BEWARE: I have not printed this thing yet! I really wish I could but I am still waiting for mine. BEWARE: There be snakes in dem codes; look at the openscad code at your own risk! I really do intend to add more paramaters too, just working out the basic form first.Oh and for now there are no solenoids included. At this point I really don't know enough yet to design capable ones.Really none yet :/ I don't pretend to know enough to instruct anyone else when I've not built anything myself.If someone were to print just one or two pieces, I'd think that the "wobbleRing" and the "drivenGear" would be the most illuminating. Really curious how they mesh IRL...