The Backlash node can optionally be added on gear pairs. The transmission error due to backlash is added in the rotation constraint of the gear pair. By default, there is no backlash on a gear pair.
The transmission error (backlash), θbl, is degree of freedom in this node. The backlash moment about the first axis of the tooth coordinate system and its virtual work contribution are defined as:
where bl and
pbm are the backlash and modified penalty factor, respectively.