2 degrees of freedom using planetary gearboxes

grabcad

just a small project to have a mechanism with 2 degrees of freedom using 2 planetary gearboxes and 2 stepper motors.It looks really awesome when it's runningthe bottom gearbox rotates and is one of the degrees, this spins the upper gearbox. this upper gearbox then spins 2 gears mounted perpendicularly to the ring of the planetary gearbox. when these gears riding on the rings gear spin, it makes up the 2nd degree of freedom. there is some coupling when the lower stage rotates on its own but that makes the mechanism even more interesting when it is in motion, it's really easy to deal with when programming it.