| Motor data/电机数据 | ||||
| 20GP130 | 20GP180 | |||
| 1 | Reduction ratio/减速比 | 157 | 118 | |
| 2 | Rated voltage/额定电压 | V | 24 | 24 |
| 3 | No-load speed/空载转速 | rpm | 140 | 140 |
| 4 | No-load current/空载电流 | A | 0.17 | 0.11 |
| 5 | Rated speed/额定转速 | rpm | 114 | 116 |
| 6 | Rated torque/额定转矩 | g.cm | 2450 | 2700 |
| mN.m | 240.2 | 264.7 | ||
| 7 | Rated current/额定电流 | A | 0.76 | 0.5 |
| 8 | Rated output power/额定输出功率 | W | 2.88 | 3.22 |
| 9 | Locked-rotor torque/堵转转矩 | g.cm | 13400 | 15000 |
| mN.m | 1313.7 | 1470.6 | ||
| 10 | Locked-rotor current/堵转电流 | A | 3.4 | 2.3 |
| Specifications /齿轮箱规格 | ||||
| 1 | Number of stages /级数 | 3 | ||
| 2 | Gearbox length/齿轮箱长度 | 19.3 | ||
| 3 | Reduction ratio/减速比 | 29 | ||
| 83 | ||||
| 84 | ||||
| 104 | ||||
| 128 | ||||
| 157 | ||||
