行星齿轮箱电机驱动器
| 方身 | 型号 | 齿轮箱参数 | 电机规格 |
| 减速比i | 额定扭矩(N.m) | 最大扭矩(N.m) | 回差 | 效率 | 力矩(N.m) | 电流(A) | 电阻 （Ohm） | 转动惯量（g.cm2） | 重量 | 厚度 |
| 口28 | HEM-11D6003-01PG | 4 | 0.532 | 0.56 | 15Arc | 95% | 0.14 | 0.8 | 5.7 | 22 | 0.29 | 78.4 |
| HEM-11D6003-03PG | 9 | 1.197 | 1.26 | 25Arc | 90% | 0.14 | 0.8 | 5.7 | 22 | 0.31 | 86.4 |
| HEM-11D6003-04PG | 20 | 2.66 | 2.8 | 25Arc | 90% | 0.14 | 0.8 | 5.7 | 22 | 0.31 | 86.4 |
| 口35 | HEM-14D6001-05PG | 4 | 1.254 | 1.32 | 15Arc | 95% | 0.33 | 1 | 3.7 | 22 | 0.32 | 78.1 |
| HEM-14D6001-06PG | 9 | 2.8215 | 2.97 | 25Arc | 90% | 0.33 | 1 | 3.7 | 22 | 0.34 | 86.1 |
| HEM-14D6001-07PG | 20 | 6.27 | 6.6 | 25Arc | 90% | 0.33 | 1 | 3.7 | 22 | 0.34 | 86.1 |
| 口42 | HEM-17D6005-10PG | 5 | 2.3275 | 2.45 | 15Arc | 95% | 0.49 | 2 | 1 | 82 | 0.76 | 89.7 |
| HEM-17D6005-11PG | 10 | 4.655 | 4.9 | 15Arc | 95% | 0.49 | 2 | 1 | 82 | 0.76 | 89.7 |
| HEM-17D6005-12PG | 20 | 9.31 | 9.8 | 30Arc | 90% | 0.49 | 2 | 1 | 82 | 0.96 | 99.7 |
| HEM-17D6005-13PG | 50 | 23.275 | 24.5 | 30Arc | 90% | 0.49 | 2 | 1 | 82 | 0.96 | 99.7 |
| 口60 | HEM-24D5004-03PG | 5 | 14.25 | 15 | 15Arc | 95% | 3 | 4.2 | 0.75 | 810 | 2.2 | 140.1 |
| HEM-24D5004-04PG | 10 | 28.5 | 30 | 15Arc | 95% | 3 | 4.2 | 0.75 | 810 | 2.2 | 140.1 |
| HEM-24D5004-05PG | 20 | 57 | 60 | 30Arc | 90% | 3 | 4.2 | 0.75 | 810 | 2.5 | 157.1 |
| HEM-24D5004-06PG | 50 | 142.5 | 150 | 30Arc | 90% | 3 | 4.2 | 0.75 | 810 | 2.5 | 157.1 |
| HEM-24D5004-07PG | 100 | 285 | 300 | 30Arc | 90% | 3 | 4.2 | 0.75 | 810 | 2.5 | 157.1 |
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