pic: CGX-115, cam-counterweighted cycloidal drive

[asid61]

So apparently the radial loads on the camshaft (which is attached to the CIM shaft in this case) is equal to Torque/(eccentricity * gear ratio), which assuming you want to have a 200ft-lb (2400 lb-in) torque on this maximum comes out to
2400/(0.05*900)
or about 53 pounds of pure radial force on the CIM. A CIM at stall on a 12t pinion experiences about 22lbs of pure radial force. At the moment I have a pair of 8mm bearings in the output shaft, so it's probably safe, although on smaller gearboxes like the Versaplanetary version where this is not the case there could be savage failure modes. This is mainly a problem for cam-counterweighted cycloidal drives, as they don't have 2 wobble gears on 180* phase offsets to cancel out the forces.