Perhaps the most obvious is to improve precision, which really is a function of manufacturing and assembly tolerances, gear tooth surface finish, and the center distance of the tooth mesh. Sound can be affected by gear and housing materials as well as lubricants. In general, expect to spend more for quieter, smoother gears.
Don’t make the error of over-specifying the motor. Remember, the input pinion on the planetary must be able manage the motor’s output torque. What’s more, if you’re using a multi-stage gearhead, the result stage must be strong enough to absorb the developed torque. Obviously, using a more powerful motor than required will require a bigger and more expensive gearhead.
Consider current limiting to safely impose limitations on gearbox size. With servomotors, result torque can be a linear function of current. Therefore besides safeguarding the gearbox, current limiting also protects the engine and drive by clipping peak torque, which may be from 2.5 to 3.5 times continuous torque.

In each planetary stage, five gears are simultaneously in mesh. Although it’s impossible to totally get rid of noise from such an assembly, there are several ways to reduce it.

As an ancillary benefit, the geometry of planetaries matches the shape of electric motors. Therefore the gearhead could be close in diameter to the servomotor, with the output shaft in-line.
Highly rigid (servo grade) gearheads are usually more costly than lighter duty types. However, for fast acceleration and deceleration, a servo-grade gearhead could be the only sensible 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 many construction features to reduce torsional stress and deflection. Among the more prevalent are large diameter output shafts and beefed up support for satellite-gear shafts. Stiff or “rigid” gearheads tend to be the costliest of planetaries.
The kind of bearings supporting the output shaft depends on the load. High radial or axial loads usually necessitate rolling component bearings. Small planetaries could manage with low-price sleeve bearings or other economical types with relatively low axial and radial load capability. For bigger and servo-grade gearheads, durable result shaft bearings are often required.
Like the majority of gears, planetaries make noise. And the faster they run, the louder they obtain.

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