In recent years, the popularity of humanoid robots has made their joint reduction motors a hot topic, but conventional planetary gearboxes and harmonic gearboxes each have their own advantages and disadvantages. So our R&D team tried to miniaturize the traditional large heavy-duty cycloidal pinwheel to expand the market. The cycloidal pinwheel meets the special requirements of robot joints such as small space, large torque, flatness, lightweight, high precision, and impact resistance. During the research and development period, we continued to challenge the special requirements of the industry, such as backwash transparency and hollow pass-through form, and are committed to overcoming these problems one by one.