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Error factors of RV reducer are not completely considered, leads to backlash precision is limited, so an improved backlash estimation model is proposed. RV reducer structure and working principle is deeply analyzed, a variety of error factors are considered, and the backlash estimation model is improved according to error propagation. Furthermore, sensitivity of all the error factors are analyzed, RV reducer backlash is obtained through Monte-Carlo simulation, and the simulation results are compared with the traditional computation results. It is conductive to taking fix action in the design stage, reducing backlash, improving the transmission accuracy.

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