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HUMANOID ROBOTICS / THE TRANSMISSION

Joints & gears

Reducers trade motor speed for torque. Precision gearing lets elbows, knees, and hips hold position smoothly under a load.

How this system works

Follow the torque path from the sun gear, through three planets, to the output carrier.

With the outer ring fixed, the sun gear drives the planets and turns the output carrier.

Illustrative planetary joint gearbox with its component parts separated for study
Illustrative planetary joint gearbox. Designs differ by manufacturer; the model is not an OEM bill of materials.

What to look for: Three planets between the central sun and the inward-facing ring teeth.

Read the engineering reference

Compare the right roles

Are all precision reducers the same?

No. Planetary, strain-wave, and cycloidal reducers use different mechanisms. The illustrated planetary gears do not establish that every company in this sector supplies those specific parts.

Does industrial market share imply humanoid leadership?

No. A share estimate for large industrial robot reducers cannot be relabeled as humanoid market share. Keep the application, product category, date, and source attached to the claim.

Compare Nabtesco’s industrial reducer franchise with strain-wave specialists Harmonic Drive and Leaderdrive. Timken spans several gear architectures. Their industrial positions are not humanoid market-share rankings.

Open each company below for its source and limitations. Sector membership does not establish a confirmed supply contract.

Inside the assembly

Internal ring gear

The fixed outer ring has inward-facing teeth. It reacts torque into the joint housing.

Stock-link scope: Zhongda makes complete planetary reducers incorporating ring gears; standalone ring-gear supply is not established.

Input sun gear

The motor turns this central gear. It drives the three planet gears that mesh with the fixed ring.

Stock-link scope: Planetary gearbox integration, including the central sun gear. Strain-wave products do not use this mechanism.

Planet gears & pins

The planet gears share the load while rotating around the sun. Tooth counts determine the reduction ratio.

Stock-link scope: A planetary reducer product match. This is not a claim of standalone planet-gear or pin supply.

Output carrier

The carrier supports the planet pins and delivers the slower, higher-torque rotation to the robot link.

Stock-link scope: Complete planetary transmission integration, rather than a verified standalone carrier contract.

Output bearing

Rolling elements support radial and axial joint loads while keeping the output aligned.

Stock-link scope: Bearing suppliers supporting rotating joints. Exact bearing type and fit depend on the robot and gearbox design.

COMPANY RESEARCH

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Evidence groupings are not investment ratings. Companies may appear in multiple sectors.