Under the action of the load

the transmission error is produced by the elastic deformation of the engagement pair for the cycloid ball planetary transmission

which affects the precision transmission characteristics.Firstly

according to the mechanical model of the cycloid ball engagement pair

the elastic deformation of engagement pair is calculated by the Hertz formula

and the equation of transmission error is established by the deformation coordination conditions.Then

the variation of the transmission error with the parameters of the cycloid ball planetary transmission is analyzed

which provides a theoretical basis for the accuracy optimization design of the transmission.