For WE-R2.4, the large planetary gear systems move the lower joints (base and bottom arm segment) of the WE-R2.4 robot, a.k.a. “Armbot 1.0.” After assessing the system, it became clear that vibrations from the motor were causing noise and suboptimal gear performance. The gasket below solved the issue, as seen in Figure 2, along with some petroleum jelly applied to the sun and planet gears. Figure 3 shows the fully repaired robot. Before applying any lubricant to plastic pieces, be sure to reference guides online for what ingredients are incompatible with plastic. Consider the “chemistry (base oil, thickeners, and additives), viscosity, and aging resistance” [2].