I'm trying to understand how gearing works for high torque robots. They often use harmonic drives, which although not backdrivable, can achieve very large reduction ratios. Now, how they trade torque for speed and vice versa is quite confusing. In the motors I have looked at, such as the T-MOTOR V602, torque, RPM and power all increase in unison.
In research papers, the spec sheets for robots often list both the maximum torque that can be achieved with the gear ratio along with its highest RPM. The motor obviously cannot do the same simultaneously as it would require 2Kw+ per joint. The question is how are they able to trade one for another in what seems to be a single harmonic/planetary drive?
Image from robot JAXON3-P (doi : 10.1109/Humanoids43949.2019.9035049)