The encoder synchronous wheel drive is composed of a closed annular tape with equal-spaced teeth on the inner peripheral surface and a corresponding pulley. During the movement, the toothed belt and the toothed groove of the pulley mesh to transmit motion and power, which is a kind of meshing transmission, and thus has various advantages of gear transmission, chain transmission and flat belt transmission. Synchronous belt can be divided into neoprene rubber and fiber rope synchronous belt according to the material, and polyurethane plus steel synchronous belt. According to the shape of the tooth, it can be divided into trapezoidal tooth and arc tooth tooth, which can be divided into two groups according to the toothed surface. Single-sided tooth synchronous belt and double-sided tooth synchronous belt. Synchronous belt drive with accurate transmission ratio, no slip, can obtain a constant speed ratio, can be precision transmission, smooth transmission, can absorb shock, low noise, transmission speed ratio range, generally up to 1:10, allowable line speed can be Up to 50m/s, high transmission efficiency, generally up to 98c/o-99c/o. Transfer power from a few watts to hundreds of kilowatts. The compact structure also applies to multi-axis transmission, with small tension, no lubrication and no pollution, so it can work normally in situations where pollution is not allowed and the working environment is rather harsh.