異なる特性のモーターを組み合わせた減速機一体型マルチモーターパワーユニットの開発

抄録

We have developed many types of Multi-Motor Power Unit (MMPU) that drives an output shaft by using power of multiple motors. In this study, we suggest a new concept of MMPU that consists of different characteristic motors. Also we integrate a reduction gear into a suggested MMPU. The reduction gear is dual ratio reduction, 1st step of reduction gear consists of a star-type planetary gear, and 2nd step of reduction gear consists of mechanical paradox gear mechanism.We developped the reduction gear built-in type MMPU that have two types of motor and applied it for competitiive robot of reactor abolishment technology.