The Harmonic Drive is an assembly that can multiply the torque of a single chepo metal gear servo and also hold position without using power. I would like to incorporate the components into universal joints for a dual arm robot. basically taking the harmonic drive design and adding the arm structure to the 3d model. Print the arm and joints in parts then drop in the servo and secure to the hornby freddya - Let's design something! (I've got an idea ...)