減速機付きアクチュエータの駆動冗長性による軽量化

抄録

In order to make assist devices light, compact and easy to customize, we proposed to apply redundant motors (RMs). RM consists of many small motors with reduction gears in parallel instead of one large geared motor. Thanks to the composition of RM, compact design will be enabled by arranging many small motors with in the allowable space, and its mass can be reduced by distributing load torque to multiple working teeth pairs. This paper presents a theoretical analysis result to show the mass-reduction principle of an actuator by RM concept. Practical design and construction of RM is discussed.