I was experiencing an issue where back driving the arm on my robot would shread gears or shear output carrier pins. I designed a detent clutch which would release engagement when exceeding a threshold torque. I used SolidWorks throughout the entire design process from creating geometries in a limited volume, to estimating stroke of the springs, and even drawing creation for the housing and hardened steel wheel. See it in action below!

Read more about "MegatRON" here.