Deterministic Willis epicyclic kinematic equation, concentricity Zr=Zs+2Zp+2m·Δx, adjacency Zp+2 < (Zs+Zp)sin(π/Np) & integer assembly (Zs+Zr)/Np ∈ ℤ engine (.step, .3mf, .stl) built for Maxon, Harmonic Drive, Bambu Lab, Dynamixel — zero-upload ephemeral Wasm RAM execution.
Running ephemeral Wasm verification…