"Wobbling gear" reduction?

[asid61]

Originally Posted by Ty Tremblay

You do need a deformable gear in a harmonic drive, but they can be 3D printed.

(That channel actually has a lot of interesting gear trains, like this one.)

I would seriously balk at attempting to calculate the tooth profile of those non-wobbling gears.

For FRC use I balk at using 3D printing both due to the efficiency loss as well as low strength. I've seen that channel and I definitely has interesting stuff on it.
Calculating the tooth profile should just be plugging in an equation, and I can always just ask the owner of the channel for them.
I was thinking of cycloidal gearboxes, but this has the advantage of not being eccentric, and thus you only need one wobble plate to counterbalance itself.