As the most commonly used transmission device in robotic system, precision reducer is mainly composed of an involute planetary transmission mechanism and a cycloidal planetary transmission mechanism. Since the precision reducer is often working with the motor rotating forwardly and reversely, the backlash between the sun gear and the involute planetary gears has a significant impact on the transmission accuracy and the bearing capacity. In order to analyze this influence, three rigid-flexible coupling models of precision reducer with different backlashes have been established and the characteristic curves have been obtained by dynamic simulation in forward-reverse rotating condition. The results indicate that the backlash will cause significant fluctuations on the output speed and the meshing force. When the backlash increases, the transmission accuracy will decrease and the meshing force becomes larger.
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