This was one of those projects that you get in your head and at some point just have to do it.
It is a little on the heavy side (147 grams) but the advantages are
TODO: Add encoder for servo control.
The idea was to drive all 6 motors in the same direction for torque but when approaching the set-point reverse a few motors and provide backdriving to prevent over correction.
You can drive 3 forward and 3 backwards to hold position.
Not my best CAD work but as a prototype it worked so much better than expected.
See it in action
It is quite powerful but i forced it by hand too many times and striped the planets. The planets will need to be better than PLA to be useful.
Additional materials used
|STL parts ready to 3D print
|Fusion 360 design files
I hope someone finds this useful
Thats all folks