Input motor input torque τ_in, reduction ratio GR, and transmission efficiency η, compute output torque τ_out = τ_in·GR·η to assess reduced torque against load, for joint-module torque selection.
输入输入扭矩 τ_in、减速比 GR、效率 η,求输出扭矩。
| Item | Formula / Note | Source / Standard |
|---|---|---|
| Torque transformation | Tout = Tin·i·η | Pu Lianggui |
| Power conservation | P = T·ω | Pu Lianggui |
| Strength check | GB/T 3480 method | GB/T 3480 |