Perhaps the most obvious is to increase precision, which really is a function of manufacturing and assembly tolerances, gear tooth surface finish, and the guts distance of the tooth mesh. Sound is also suffering from gear and housing materials along with lubricants. In general, expect to spend more for quieter, smoother gears.
Don’t make the error of over-specifying the engine. Remember, the insight pinion on the planetary should be able deal with the motor’s result torque. What’s more, if you’re utilizing a multi-stage gearhead, the result stage must be strong enough to soak up the developed torque. Obviously, using a better motor than required will require a bigger and more expensive gearhead.
Consider current limiting to safely impose limits on gearbox size. With servomotors, result torque is definitely a linear function of current. So besides protecting the gearbox, current limiting also defends the electric motor and drive by clipping peak torque, which can be anywhere from 2.5 to 3.5 times continuous torque.

In each planetary stage, five gears are at the same time in mesh. Although you can’t really totally remove noise from such an assembly, there are several methods to reduce it.

As an ancillary benefit, the geometry of planetaries fits the shape of electric motors. Hence the gearhead could be close in diameter to the servomotor, with the output shaft in-line.
Highly rigid (servo grade) gearheads are generally more costly than lighter duty types. However, for rapid acceleration and deceleration, a servo-grade gearhead may be the only wise choice. In this kind of applications, the gearhead may be viewed as a mechanical spring. The torsional deflection caused by the spring action adds to backlash, compounding the consequences of free shaft motion.
Servo-grade gearheads incorporate a number of construction features to minimize torsional stress and deflection. Among the more common are large diameter output shafts and beefed up support for satellite-gear shafts. Stiff or “rigid” gearheads have a tendency to be the most costly of planetaries.
The type of bearings supporting the output shaft depends on the strain. High radial or axial loads generally necessitate rolling component bearings. Small planetaries can often manage with low-price sleeve bearings or additional economical types with fairly low axial and radial load capability. For bigger and servo-grade gearheads, durable result shaft bearings are often required.
Like most gears, planetaries make noise. And the quicker they operate, the louder they get.

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