齿轮箱清单/Gearbox data:
级数 Number of stages	1stages reduction	2stages reduction	3stages reduction	4stages reduction	5stages reduction
减速比Reduction ratio	3.7	10.2，13.7,19.2,	32.5,50.9, 71.2, 99.5,	139，188, 264, 369, 516, 721	699, 977, 1367, 1911,2672, 3736
齿轮箱长度Gearbox length"L"mm	33.6	44.9	56.2	67.5	78.8
最大额定力矩Max.Running torque	20Kgf·cm	60Kgf·cm	120Kgf·cm	120Kgf·cm	120Kgf·cm
最大损坏扭力Max.gear breaking torque	60Kgf·cm	180Kgf·cm	360Kgf·cm	360Kgf·cm	360Kgf·cm
效率Gearing efficiency	90%	81%	73%	65%	59%

马达清单/Motor data:
马达型号 Motor name	额定电压Rated Volt. V	空载No load		负载扭矩Load torque				堵转扭矩Stall torque
		Current	Speed	Current	Speed	Torque	Output power	Torque	Current
		mA	r/min	mA	r/min	gf.cm	W	gf.cm	A
45ZY123000	12	≤210	3000	≤1200	2430	390	9.5	2470	6.6
45ZY124500	12	≤440	4500	≤2050	3710	480	17.8	2706	10.2
45ZY126000	12	≤630	6000	≤4150	5240	610	31.9	4700	20.3
45ZY243000	24	≤120	3000	≤620	2590	380	9.84	2160	3.4
45ZY244500	24	≤270	4500	≤1340	3950	490	18.8	3233	5.5
45ZY246000	24	≤360	6000	≤2050	5120	650	33.2	4715	12.2