The invention includes a precision planetary gear system which requires 2:1 gear ratio. The planetary gear system consists of three, or more planet gear assemblies. By adding a local degree of freedom, the planet gear assembly could be tilted relative to the carrier by a spring-loaded annular ring through a spherical feature thus force the three, or more planet gear assemblies symmetrically mesh into the sun gear and internal gear. A couple of elastomeric sleeves are introduced into the connection between the planet housing and the carrier so as to balance the load evenly among the three planet assemblies and to reduce the speed fluctuation of transmitted motion as well as the noise and vibration.