This standard specifies the terms and definitions, common structural forms, technical requirements, test methods, inspection rules, marking, packaging, transportation, and storage of cycloidal pinwheel planetary gear transmission devices for robots (hereinafter referred to as transmission devices). This standard is mainly applicable to the field of robotics, and can also be used in other industrial fields that require small size, light weight, high speed ratio, high torque, high accuracy, high stiffness, and high reliability for transmission devices. The following normative references are essential for the application of this document. For dated references, only the dated version applies to this document. For undated references, the latest version (including all modification orders) applies to this document. GB/T191 Packaging, Storage, and Transportation Graphical Symbols GB/T 2828.11 Sampling and Inspection Procedures by Attributes Part 11: Evaluation Procedures for the Quality Level of Small Population Claims GB/T 6404.1 Acceptance Specification for Gear Units Part 1: Test Specification for Airborne Noise GB/T13306 Labeling GB/T 13384 General Technical Conditions for Mechanical and Electrical Product Packaging 3 Terms and Definitions The following terms and definitions apply to this document. Permissible torque during acceleration or deceleration The maximum load (including inertia) torque allowed at the output end during normal startup or shutdown
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