worm (-gear speed) reducer

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gear — gearless, adj. /gear/, n. 1. Mach. a. a part, as a disk, wheel, or section of a shaft, having cut teeth of such form, size, and spacing that they mesh with teeth in another part to transmit or receive force and motion. b. an assembly of such… … Universalium
Cycloidal drive — For the marine propulsion system, see Voith Schneider. A cycloidal drive or cycloidal speed reducer is a mechanism for reducing the speed of an input shaft by a certain ratio. Cycloidal speed reducers are capable of high ratios in compact sizes.… … Wikipedia

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