Table 2.

Motor and transmissions

Motor	Maxon ECi 40–50 W
	$T_{cont.}$ = 46.6 mNm
	$T_{peak}$ = 100 mNm
Transmission	Maxon GP32BZ
Stage 1	i = 5.8:1
Transmission	Maxon ballscrew GP32S
Stage 2	$\mathit{\varphi }$ 10 x 2 mm
	${\mathit{\eta }}_{transmission1\&2}=\pm 75\%$