Research Regarding Backlash Improvement for Planetary Speed Reducers Used in the Actuation of Industrial Robots

Abstract

The backlash concept includes the deflections resulting from the gearing loads and the flank plays that exist between the flanks of the sun, planet and ring gears, forming the planetary transmission. Therefore, it is important that planetary transmissions used for industrial robots should have low backlash, in order to achieve a good positioning accuracy. In this paper, a computation method for the backlash of planetary transmissions is presented, applied for a two-stage planetary transmission having a ratio of i=36. Based on the results, strategies can be formulated, allowing the minimization of the backlash for planetary transmissions, improving the positioning accuracy.