Design of compound planetary gear reducer based on dual motor anti-backlash method

In order to improve the impact resistance, long-term precision retention and reduce the manufacturing cost of the robot actuator, the compound planetary gear is used for the transmission of the reducer. However, the gear pair has backlash, leading to the introduction of transmission error in the transmission chain. To eliminate the transmission backlash of the planetary gear reducer, the robot actuator adopts the structure of double motor drive and double carrier support. Two parallel transmission chains are designed inside the reducer. Bias torque is applied by two motors to enable the corresponding gear pair teeth surface to realize opposite side mesh, to eliminate the backlash. The simulation results show that the ideal backlash elimination effect can still be guaranteed by the dual-motor driving with dual-carrier support structure under heavy load. It provides an ideal scheme for the humanoid robot actuator.