The invention provides a planetary
gear transmission mechanism which comprises a sun wheel,
planet wheels and a few-tooth-difference transmission mechanism. In order to improve the precision, gear teeth of two inner gear rings and gear teeth of two few-tooth-difference gears are variable-tooth-thickness
involute gear teeth; the rotation directions of the
helix angles of the two inner gear rings are opposite, and a clearance-eliminating elastic body is arranged between a pair of few-tooth-difference gears. The planetary
gear transmission mechanism has the advantages of being high in rigidity and precision, large in
transmission ratio and torque, and capable of greatly lowering
machining difficulty. The invention further provides a
robot joint
reducer which comprises the planetary
gear transmission mechanism. The
robot joint
reducer has the advantages of being scientific in design, small in size, high in precision, large in
transmission ratio and torque, and capable of greatly lowering
machining difficulty. The invention further provides a
robot which comprises the robot joint
reducer. The robot has the advantages of being scientific in design, high in precision, large in
transmission ratio and torque, and capable of greatly lowering
machining difficulty.