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We are developing a low 1 )acklash reducer using precessing crown gears ， We camt crown reducer ． The features of this redllcer are low backlash ， high reduction ratio ， and advantage in miniatuTizing ． These features greatly contribute to design variolls small mechanism5 such a ε a 且nger joint of a robQt haIld ． In this paper， we describe some modifications of rnechanical design f ( )r minia 七 urizing the crown reducer ， Two prototype reducers ， which diameter are φ 6 a． nd φ12 ( gears ， diame 七 er are φ5 and φ10， respectlvely ) ， are shown in this paper ． Some evaluation results 正 br φ6 type are also presented ・ Key Wo 嘱 5 ： Low − backiash， Reducer ， Crown gear ， High reduction ratio

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