Planetary Gear Train For Robots Plus Connection

This is a remix of : https://www.thingiverse.com/thing:841424 , Epicyclic gearing train. I just close covers to put some plastique grease and i made the connections stronger so i can use it in my Robot. My hole mision is to create a connection that don't need a worm gear. I use this : http://www.ebay.com/itm/CYS-S8218-Digital-6V-7-2V-0-18sec-60A-a-164g-Metal-Gear-40KG-High-Torque-Servo-/300913164823?pt=LH_DefaultDomain_0&hash=item460fd28217 . servo