減速機⼀体型マルチモーターパワーユニットの実⽤化

－⾦属⻭⾞化の効果と内蔵式ロータリーエンコーダー機能の確認－

抄録

We had developed many types of Multi-Motor Power Unit (MMPU) that drives an output shaft by using power of multiple motors. In this study, we had suggested a new concept of MMPU that consists of different characteristic motors. Also, we had integrated 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 had developed the reduction gear built-in type MMPU that have two types of motor and applied it for competitive robot of reactor abolishment technology. In this report, we had suggested improvement of reduction gear to increase maximum output torque of MMPU by metalization of gears and built-in rotary encoder function to it.