The German self-compensating gap reducer has five sets of planetary gears for the hollow shaft version and four sets for the solid shaft version. It has a total of 3 stages of transmission: the first stage is a helical gear, with a small gear connected to the servo motor, which then connects to the helical gear. This large gear drives the sun gear, which then drives the planetary gears, and then drives the four subsequent planetary gears. These four planetary gears mesh with the outer gear and transmit the motion outward. In total, there are 3 transmission stages: the first stage is a helical gear, and the latter two stages are planetary gears. It also has a self-adjusting feature to ensure that the reducer maintains consistent precision throughout its service life. In addition, the spindle bearing used is a special type developed in collaboration with INA, directly integrated into our housing. It is an angular contact roller bearing, which gives our system very strong axial and radial load capacity as well as rigidity. The axial and radial forces it can withstand are 20 to 30 times higher than those of other bearings.