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See Chinese contents: GB/T 36491-2018 GB/T 36491-2018: Precision cycloidal pin planetary gear transmission for robot -- General technical requirements
This Standard specifies terms and definitions, common structural forms, technical requirements, test methods, inspection rules, marks, packaging, transport and storage for precision cycloidal pin planetary gear transmission for robot. This Standard is mainly applicable to robotics field. It is also used in other industrial fields where the transmission is required to be in a small size, light weight, large speed ratio, large torque, high precision, high rigidity, and high reliability.
