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> Of course the other way is: buy motors with (metal) gears that are close to your need - then you only need to 'transform' that motion a little bit.

Buy overpowered motors close to your need, and 'transform' them by software.




Unfortunately, that only works if weight is not a concern - direct drive applications will have worse torque/weight ratio.


This is only an acceptable option when speed, torque, weight, and volume aren't a concern.




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