技术参数 Technical Data
| Description/描述 | Value/值 |
| Number of gear stages/齿轮级数 | 1 | 2 | 3 | 4 | 5 |
| Reduction ratio/减速比 | 4.636 | 21.5 | 99.6 | 462 | 2141 |
| No-load gear backlash/空载时齿轮回差 | 3° | 3.6° | 3.8° | 4° | 4° |
| Max. continuous input speed/最大连续输入转速 | 12,000rpm | 15,000rpm | 18,000rpm | 20,000rpm | 20,000rpm |
| Max. instantaneous input speed/最大瞬时输入转速 | 15,000rpm | 18,000rpm | 21,000rpm | 25,000rpm | 25,000rpm |
| Max. continuous torque/最大连续扭矩 | 10mNm | 20mNm | 60mNm | 80mNm | 100mNm |
| Max. instantaneous torque/最大瞬时扭矩 | 15mNm | 30mNm | 90mNm | 120mNm | 150mNm |
| Max. efficiency/最大效率 | 80% | 64% | 51% | 41% | 33% |
| Weight reference value of gearbox/齿轮箱重量参考值(g) | 2.6 | 3.3 | 3.9 | 4.5 | 5.1 |
| L1[mm]=Lenght of gearbox/齿轮箱长度 | 9.2 | 11.7 | 14.2 | 16.7 | 19.2 |
电机齿轮参数 Motor pinion specifications
Initial deceleration ratio 初段减速比 | Material 材料 | Number of teeth 齿数 | Thickness 厚度 | Hole size 孔径 |
| 4.636 | Steel/钢件 | Z=11 | 1.7±0.1 | 
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