1、The main characteristic of worm gear reducer is that it has the reverse self-locking function, which can have a large reduction ratio. The input shaft and output shaft are not on the same axis, nor on the same plane. But the general volume is larger, the transmission efficiency is not high, the degree is not high.
2、The harmonic drive of the harmonic reducer uses the controllable elastic deformation of the flexible components to transfer motion and power. The volume is not large and the degree is very high, but the disadvantages are the limited life of the flexible wheel, the impact resistance, and the rigidity is poor compared with the metal parts. The input speed should not be too high.