Performance has to do with mechanical efficiency, and yes, will surely vary between types and manufacturers of gearboxes and will correlate between power in (motor) and power out (torque arm).
Capacity, i.e. the maximum torque capacity that a given gearbox can tolerate before failure (of some kind), will be directly attributed to the strength of the gearbox housing, attachment points, inner gears/teeth, output shaft, output bearings and shear key.
With respect to payload (maximum/optimum mass that can be supported) the limiting factor with most of the systems presented is the ultimate strength of the gearbox.
That said, it all depends on exactly what kind of speed and frequency the user expects from the system, which are subjective qualities. Speed and frequency will be determined predominantly by motor power, gearbox efficiency, controller signal speed and electrical control power.
With regards to you specifying a larger gearbox, I couldn't agree more. Obviously money becomes a factor, but it is always nice to have more capacity than less
I went pretty "all-out" with mine. Going for the larger RV90 gearbox frame with hardened stainless steel working gear (instead of carbon steel). They are each rated at 480Nm continuous torque.
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