| 摘要 |
Embodiments of the present invention are directed to gear based transmission apparatus that are configured to reduce or eliminate the backlash effects. In one embodiment, a transmission apparatus comprises a follower gear, a first drive gear set coupled with the follower gear to drive the follower gear, and a second drive gear set coupled with the follower gear to drive the follower gear. The first drive gear set includes at least one gear, and the second drive gear set includes at least one gear. A controller is coupled with the first drive gear set and the second drive gear set. The controller is configured to synchronize the first drive gear set and the second drive gear set to drive the follower gear in a first direction in a first transmission drive mode, the controller being configured to reverse the direction of the first drive gear set by a phase-shift time period before reversing the direction of the second drive gear set in a transmission reversal mode so as to reduce or eliminate backlash in the first drive gear set prior to engaging the first drive gear set with the follower gear to drive the follower gear in a second direction opposite from the first direction.
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