gear motor is used to drive the robot joints and asked for is to have the most high power quality ratio and inertia torque ratio, current regulated torque and low inertia and more broad and smooth speed range. Especially like robot end executor (paw) should be used gear motor size, the quality is as small as possible, especially for quick response, servo motor must have high reliability, and has the larger short-term overload capacity. Specific application requirements: Quickness. Starting torque moment of inertia than the big. Control characteristic of the continuity and linearity, as the change of control signals, the rotational speed of the gear motor can change continuously, sometimes still need speed is proportional to the control signal is proportional or approximation. Wide range of speed. Small volume, low quality, short axial dimensions. Able to withstand harsh operating conditions, can be very frequent direction and deceleration operation, and can wi…