After printing and checking the meshing of the gears, I decided to swap to helical gears as they are more reliable and produce less friction than a herringbone setup despite being slightly weaker and also prone to having the gears slide out of the planetary assembly. I redesigned the shaft clamp design to fit in a smaller size so that I can fit it onto the small shaft of the RS550 DC motor and also changed the gear ratio of the planetary gearbox to be 6. I finished the designs of all of the major motor mounting parts, and printed/verified their functionality with the motor (which just arrived). I have printed the ring gear, the planetary carrier, the 3 planet gears, and the sun gear; however the bearings are yet to arrive so I will not be able to test yet. I also realized that I will need a way to reduce contact surface area of the plastic so as to stop heat from building up, so I will have to reprint the planet gears to have a small notch in the middle that I can glue a small rubber spacer or a nut into.