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See Chinese contents: GB/T 35089-2018 GB/T 35089-2018: Precision gear transmission for robot -- Test method
This Standard specifies the basic requirements for test pieces, test equipment, installation and debugging, torque efficiency test, transmission precision test, service life test, bending moment rigidity test and data processing of bench test of precision gear transmission for robot. This Standard is applicable to bench test of precision gear transmissions (such as: harmonic gear reducers, planetary cycloid reducers and cycloid pin gear reducers) for robots in general industrial environment.
