Cycloidal drive.
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More: https://en.wikipedia.org/wiki/Cycloidal_drive
Previously:
https://www.homemadetools.net/forum/...924#post137518
https://www.homemadetools.net/forum/...2482#post45335
https://www.homemadetools.net/forum/...444#post131719
https://www.homemadetools.net/forum/...4358#post79804