PGS80 4:1
| Gearbox Orientation | Inline |
| Gearbox Type | Planetary |
| Gearbox Ratio | 4:1 |
| Gear Material | Composite/steel |
| Gearbox Stages | 1 |
| Gearbox Efficiency | 90% |
| Gearbox Axial Load | 80 N |
| Gearbox Radial Load | 400 N |
| Gearbox Continuous Torque | 20.0 Nm |
| Gearbox Intermittent Torque | 30.0 Nm |
| Backlash | 36 arc.min |
| Weight (kg) | 1.2 |