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Spur gear concept:
Only 1 transmission point per train
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Low friction per train. Arrangement of several trains as intended by the designer. Input and output shaft not
necessarily in line. Two output shafts possible.
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Good efficiency, about 0.9 per train. Long gearbox of smaller diameter or short gearbox of large diameter. Free choice for placing the motor relative to the output shaft. Mounting of a sensor, a potentiometer etc.
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Planetary concept:
3 or 4 transmission points per train
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Reduction ratio per train is higher but so is friction.
Can transmit higher torques.
Input and output of a train have the same direction of rotation. Less backlash.
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Less trains for a given reduction ration efficiency about0.85 per train. Very compact gearbox for its performance. For any number of trains, the load always rotates in the same direction as the motor. Smaller shock in case of a rapid reversal of motor rotation.
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