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Each transmission gear can swing tangentially, enabling each transmission gear to evenly share the load. In addition, the symmetry of the planetary transmission gear structure also balances the backlash on the center wheel and arm rolling bearings, which is beneficial for improving transmission efficiency, with efficiency values ranging from 0.97 to 0.99; Due to the use of a multi-purpose transmission mechanism, the high efficiency value can reach 0.97-0.99.



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