A planetary gear transmission device (10, 10', 110, 210) comprising: a planetary gear device (20, 120, 220) including a sun gear (22, 122, 222), a ring gear (24, 124, 224), a plurality of planet gears (23, 123, 223), and a carrier (25, 125, 225) supporting the plurality of planet gears (23, 123, 223); and a motor configured to generate a rotational force input to the planetary gear device (20, 120, 220), the motor (30, 30') including a motor shaft (31, 31') and a motor body supporting the motor shaft (31, 31'); characterized in that the planetary gear transmission device (10, 10', 110, 210) comprises: a fixing bracket (40, 140, 240) formed to fix any one of the sun gear (22, 122, 222), the ring gear (24, 124, 224), or the carrier (25, 125, 225) of the planetary gear device (20, 120, 220) to prevent rotation; and a recursive rotation bracket (50, 150, 250) provided with the motor (30, 30') and fixed to any one of the sun gear (22, 122, 222), the ring gear (24, 124, 224), or the carrier (25, 125, 225) of the planetary gear device (20, 120, 220), which is not fixed by the fixing bracket (40, 140, 240), wherein the recursive rotation bracket (50, 150, 250) is formed so that the motor shaft (31, 31') of the motor (30, 30') is connected to any one of the sun gear (22, 122, 222), the ring gear (24, 124, 224), or the carrier (25, 125, 225) of the planetary gear device (20, 120, 220), to which the fixing bracket (40, 140, 240) and the recursive rotation bracket (50, 150, 250) are not fixed, and wherein, when any one of the sun gear (22, 122, 222), the ring gear (24, 124, 224), or the carrier (25, 125, 225) of the planetary gear device (20, 120, 220) connected to the motor shaft (31, 31') is rotated by the motor shaft (31, 31'), the motor body is rotated by the recursive rotation bracket (50, 150, 250) and the rotational force of the motor shaft (31, 31') is output through the recursive rotation bracket (50, 150, 250). a planetary gear device (20, 120, 220) including a sun gear (22, 122, 222), a ring gear (24, 124, 224), a plurality of planet gears (23, 123, 223), and a carrier (25, 125, 225) supporting the plurality of planet gears (23, 123, 223); and a motor configured to generate a rotational force input to the planetary gear device (20, 120, 220), the motor (30, 30') including a motor shaft (31, 31') and a motor body supporting the motor shaft (31, 31'); a fixing bracket (40, 140, 240) formed to fix any one of the sun gear (22, 122, 222), the ring gear (24, 124, 224), or the carrier (25, 125, 225) of the planetary gear device (20, 120, 220) to prevent rotation; and a recursive rotation bracket (50, 150, 250) provided with the motor (30, 30') and fixed to any one of the sun gear (22, 122, 222), the ring gear (24, 124, 224), or the carrier (25, 125, 225) of the planetary gear device (20, 120, 220), which is not fixed by the fixing bracket (40, 140, 240), wherein the recursive rotation bracket (50, 150, 250) is formed so that the motor shaft (31, 31') of the motor (30, 30') is connected to any one of the sun gear (22, 122, 222), the ring gear (24, 124, 224), or the carrier (25, 125, 225) of the planetary gear device (20, 120, 220), to which the fixing bracket (40, 140, 240) and the recursive rotation bracket (50, 150, 250) are not fixed, and wherein, when any one of the sun gear (22, 122, 222), the ring gear (24, 124, 224), or the carrier (25, 125, 225) of the planetary gear device (20, 120, 220) connected to the motor shaft (31, 31') is rotated by the motor shaft (31, 31'), the motor body is rotated by the recursive rotation bracket (50, 150, 250) and the rotational force of the motor shaft (31, 31') is output through the recursive rotation bracket (50, 150, 250).