Abstract: A drive pulley is disposed to a driving motor. A plurality of follower pulleys are disposed to a rotating shaft of a spin chuck that vacuum sucks a substrate. A belt is passed from one follower pulley to the drive pulley. Belts are passed from the other follower pulleys to the drive shafts of a plurality of air motors. Since the air motors assist the driving of the driving motor, a large substrate can be rotated at a predetermined rotating acceleration. Thus, a film forming apparatus and a film forming method that allow the quantity of process solution supplied to be reduced and a film of process solution to be equally formed on a substrate can be provided.

Abstract: In a roller conveyor system for carrying out zone control, a conveyed article can be stopped in an approximately constant position without varying the position where the article is stopped in a desired control zone even if the weight of the article varies. In order to syop the article in a predetermined control zone, such stop control is carried out that a motor is decelerated and stopped in a plurality of braking systems depending on the change in the pulse width of a rotational pulse signal to stop the article with high precision in a predetermined stop position.

Abstract: The dual power unit includes an elongate housing having mounted therein adjacent opposite ends thereof two power units, one of which is drivingly connected to the movable back of an armchair, and the other unit is connected to a movable footrest of an armchair. Each unit includes a pivotal shaft connected to the back or footrest of the armchair. Each such shaft is connected to the output shaft of an electronic motor reducer through a transmission-gear in the form of a screw extending transversely of the respective pivotal shaft. The screw is drivingly connected through a threaded slider which is in engagement with a pair of cam elements mounted on a respective pivotal shaft to impart pivotal movement thereto, and consquent movement to the portion of the armchair connected thereto.

Abstract: In a tape transport for recording and/or reproducing signals by means of a recording medium using separate winding motors for driving the winding plates, the drive of the winding motors servo units is constructed as open-loop control devices and/or closed-loop control devices. Such servo units can advantageously be used for open-loop control and/or closed-loop control of the drive of the winding motor even during a braking operation.

Abstract: A power transmission apparatus manipulates the transmission of power of the mechanical and/or electrical form. The power transmission apparatus is constructed integrating together a power-transmitting device and a transmission interaction redistributing mechanism. The interaction redistributing mechanism redistributes, or remaps, an optimized section of the operating speed range of the power-transmitting device onto the full operating speed range, including the stall speed, of the power transmission apparatus. Full operating speed range, including low speeds, is optimized. In a mechanical implementation of the apparatus, an epicyclic gear train is utilized as the redistributing mechanism. In an electromagnetic implementation of the apparatus, a rotary commutator is utilized as the redistributing mechanism and the power-transmitting device is an electromagnetic device. The mechanical implementation is capable of handling mechanical-to-mechanical mode of power transmission.

Abstract: A power output apparatus 110 includes a planetary gear 120 having a planetary carrier, a sun gear, and a ring gear, an engine 150 having a crankshaft 156 linked with the planetary carrier, a first motor MG1 attached to the sun gear, and a second motor MG2 attached to the ring gear. Part of the torque generated by the engine 150 is output to a power feed gear 128 via the ring gear, while the first motor MG1 receives the residual torque. The second motor MG2 outputs a torque having a greater magnitude than and an opposite direction to this torque, so as to rotate the ring gear reversely. The electric power consumed by the second motor MG2 is supplied by the electric power regenerated by the first motor MG1. This structure enables the power output from the engine 150 to be converted to a power of reverse direction and output to the ring gear.

Abstract: The object of the present invention is to carry out control and enable an engine to output a desired power, thereby preventing unexpected charge or discharge of storage battery means. A power output apparatus of the present invention sets energy Pe to be output from an engine, in order to cancel a deviation .DELTA.Pb of a charge-discharge electric power Pb of a battery from its target value Pb* , and controls operation of the engine to output the energy Pe. The energy Pe output from the engine is subjected to torque conversion by means of a clutch motor and an assist motor and output to a drive shaft as a required power. In case that the converted energy is not equal to the required power, the battery is charged with the surplus electric power or is discharged to supplement the shortage of electric power. Namely regulation of the energy Pe results in controlling the charge-discharge electric power Pb of the battery.

Abstract: A power output apparatus (20) of the present invention includes a clutch motor (30), an assist motor (40), and a controller (80) for controlling the clutch motor (30) and the assist motor (40). The clutch motor (30) includes an outer rotor (32) linked with a crankshaft (56) of a gasoline engine (50) and an inner rotor (34) connecting with a drive shaft (22). The assist motor (40) includes a rotor (42) connecting with the drive shaft (22). An electric current flowing through three-phase coils (36) in the clutch motor (30) enables the outer rotor (32) to be coupled with the inner rotor (34) with a certain slip. Electrical energy corresponding to the certain slip is recovered as an electric power via a first driving circuit (91). The assist motor (40) is controlled with the electric power via a second driving circuit (92) so as to apply a torque to the drive shaft (22).

Abstract: An industrial robot is provided with a plurality of elements articulated to each other, whose rotation is driven by respective electric motors by reduction gear units which are integrated in the structure of these elements.

Abstract: An invention is disclosed which promotes even wear within a multiple-motor drivetrain. In one embodiment of the invention, a vehicle drivetrain includes two motors. The total torque to be provided by the motors is partitioned between the motors such that the total efficiency of the drivetrain is maximum. Such partitioning usually involves providing more torque from one motor than from the other. The motor selected to provide the greater torque does so until a predetermined number of differential torque-hours are accumulated between the two motors. The other motor is then selected to provide the greater torque, again until a predetermined number of differential torque-hours are accumulated. Excessive wear of one portion of the driveline is thus prevented.

Abstract: A method and apparatus for animating motor-driven puppets includes drive units for individual parts or segments of the puppets, a manual input control system for controlling the drive units and generating control signals, and a computer having a memory in which the control signals can be stored for controlling the drive units. Further sub-control signals are superimposed on the control signals for modifying them in order to refine the movements and expressions of the puppet and to generate automatically controlled sequences of movements which form expressions and lifelike behaviors. Certain behaviors and expressions can be pre-stored for superpositioning on the movements of the puppet during a performance.

Abstract: A wheel assembly includes a support, a cage rotatably mounted on the support and having a longitudinal rotation axis, a first ball wheel rotatably mounted in the cage and having a rotation axis orthogonal to the rotation axis of the cage, and a second ball wheel rotatably mounted in the cage and having a rotation axis orthogonal to the rotation axis or the cage and to the rotation axis of the first ball wheel. A control circuit includes a photodetector signal which indicates ground contact for each ball wheel, and a tachometer which indicates actual drive shaft velocity.

Abstract: A cooperative differential drive system (20) for use in material handling and flight control and guidance systems, and the like. The drive system (20) may be employed in application that require high resolution task repeatability capabilities and the execution of precise position and force trajectory path following routines. A differential gear system (24) is driven by two servo-controlled actuators (22, 23) under control of a controller (21). The first actuator (22) is regulated at constant speed while the second actuator (23) is modulated at an appropriately varying speed to achieve a desired drive speed of a load. The second actuator (23) is controlled such that it dos not change rotational direction. Ultimate control of the load is achieved by way of the differential gear system (24) that combines the two actuator speeds to achieve the desired load speed. The differential gear system (24) is optionally coupled by way of a clutch system (25) to the load.

Abstract: The driving apparatus for the rotation of the spindle or the work piece pallet of an electroerosive machining device comprises two electric motors which drive e.g. the spindle to a rotational movement by means of two gear boxes and a plurality of gear wheels. In order to avoid any backlash in the gear box and any clearance between the gear wheels and to compensate the elasticity of the gear transmission, the two electric motors are always operated to rotate in opposite directions and/or to yield different values of torque. Thus, the entire transmission assembly is always subjected to a certain bias force so that a precise positioning of the spindle is possible by means of simple and inexpensive driving elements.

Abstract: An electric motor drive system having a first electric motor, a first drive shaft to which the first electric motor is coupled, a second electric motor having a higher power rating than the first, a second drive shaft to which the second electric motor is coupled, an epicyclic gear system comprising a sun gear to which the first drive shaft is coupled, a ring gear to which the second drive shaft is coupled, and planetary gears meshing with both the sun gear and the ring gear, an output drive coupled to the planetary gears, and, a one-way rotation restraining means coupled to the second shaft to permit rotation of the second shaft in one direction and to prevent rotation of the second shaft in the other direction for restraining motion of the second shaft during start up of the first motor, and a one-way rotation restraining means coupled to the first drive shaft for restraining rotation of the first shaft during start up of the second motor, and clutch means operable to interconnect said first and second moto

Abstract: An overload prevention apparatus for a jacking system of a rack and pinion type for use in offshore structures is disclosed. Each of the pinions is provided with a torque meter and tachometer for detecting a relative position between the pinion and the rack. The information detected by the torque meter and the tachometer are respectively fed to a computer the output of which is supplied to an adjust unit for equalizing the load on the jacking system.

Abstract: A rotation control apparatus for a differential actuator includes two induction motors and a differential mechanism for producing a constant torque on its output shaft based on the differential speed of the induction motors. The appartus includes two inverters each located between one of the induction motors and a common power source for the induction motors and having individual voltage/frequency output characteristics. The inverters set separately the voltage/frequency output characteristics of power supplied to the induction motors so as to control the speed of the induction motors separately, thereby controlling the output torque on the output shaft of the differential actuator. And the output shaft of the differential actuator is controlled to constant speeds regardless of the load torque on the shaft based on the difference of setting frequencies on both inverters.

Abstract: A load positioning system with gravity compensation has a servo-motor (12), position sensing feedback potentiometer (38) and velocity sensing tachometer (42) in a conventional closed-loop servo arrangement to cause lead screw (14) and ball nut (20) to vertically position load (22). Gravity compensating components comprise the DC motor (32), gears (34) and (36), which couple torque from motor (32) to the lead screw (14), and constant-current power supply (37). The constant weight of the load (22) applied to the lead screw (14) via the ball nut (20) tends to cause the lead screw (14) to rotate, the constant torque of which is opposed by the constant torque produced by motor (32) when fed from the constant-current source (37). The constant current is preset as required by potentiometer (54) to effect equilibration of the load (22) which thereby enables the positioning servo-motor (12) to "see" the load (22) as weightless under both static and dynamic conditions.

Abstract: An electric motor drive system having a first direct current electric motor, a first drive shaft to which the first electric motor is coupled, a second direct current electric motor having a higher power rating than the first, a second drive shaft to which the second electric motor is coupled, the second drive shaft comprising a hollow sleeve with the first drive shaft extending therethrough, an epicyclic gear system comprising a sun gear to which the first drive shaft is coupled, a ring gear to which the second drive shaft is coupled, and planetary gears meshing with both the sun gear and the ring gear, an output drive coupled to the planetary gears, and, a one way rotation restraining means coupled to the ring gear to permit rotation of the ring gear in one direction and to prevent rotation of the ring gear in the other direction.

Abstract: An industrial robot is disclosed, which utilizes three like drive units for controlling movement about the three primary axes of rotation. Each drive unit comprises a pair of electrical stepping motors, which act through a differential gear train to control movement about the associated axis. Preferably, the number of teeth in the output drive gear of one motor differs from the number of teeth in the output drive gear of the other motor, whereby both motors may be operated at the same rotational speed to permit accurately controllable relative movement at a relatively slow speed, and one motor may be de-energized to achieve high speed operation.

Abstract: A powered linear actuator is provided primarily for releasing stores from aircraft, having dual closed loop servo motor systems driving a screw jack. The dual motors, which have samarium cobalt permanent magnets, drive the screw jack through differential gearing and each has an armature lock which functions automatically if a motor circuit fails thereby enabling the other motor to continue driving the actuator alone. Potentiometer feedback is applied to dual error amplifiers or polarized relays that compare the feedback position signal with the input command signal and drive separate motor energization channels. A replaceable plug-in resistor is provided in series with the potentiometer track so that the actuator stroke can readily be changed by changing one value plug-in resistor for another.

Abstract: An apparatus is provided for use with a motor drive for cancelling a reaction energy of a drive motor upon rapid starting or sudden stop. The apparatus comprises a revolving member adapted to be operatively connected with the rotor of the drive motor. The member has an inertia which is equal to that of the rotor, and is adapted to be connected with the latter in the opposite sense therefrom.

Abstract: A protective circuit is described for selectively applying power to a motor. The circuit includes a power switch which closes and opens to apply and remove power from the motor, and a control for diverting reactively inducted motor current from the power switch back to the motor via a current path when the power switch is opened. The control opens the current path when the power switch opens and remains open for a predetermined interval so that, when the motor is unenergized and mechanically rotated, the motor is not braked by current flow through the current path and the motor.

Abstract: A draw twisting machine is provided with a plurality of synchronous motors which drive respective draw rollers. The synchronous motors are supplied with electrical power from an A.C. generator having a variable frequency output. The A.C. generator is driven by a D.C. motor which is operatively arranged to run at variable angular velocity (rpm), the velocity being steplessly variable over a wide range. The D.C. motor may be driven at a crawl speed by an asynchronous electric motor via a transmission and overriding clutch.

Abstract: Disclosed herein is a control comprising a rotatably supported wheel, a first direct current motor, means drivingly connecting the first direct current motor to the wheel with a first drive ratio, a second direct current motor, means drivingly connecting the second direct current motor to the wheel with a second drive ratio lower than the first drive ratio, a source of direct current, and a switch electrically connected to the source of direct current and to the first and second direct current motors and including a contact arm for initially electrically connecting the direct current source to the first direct current motor whereby to drive the wheel at a slow speed, and for subsequently additionally electrically connecting the source of direct current to the second direct current motor while maintaining electrical connection of the direct current source to the first direct current motor, whereby to drive the wheel at a fast speed.

Abstract: A control system for moving a large machine along a single axis. The control system includes first and second position loop servo systems to drive at least respective first and second motors to move respective first and second sides of the machine in the direction of the single axis. The control system is comprised of means responsive to position error signals generated by each position loop servo system for generating a difference error signal that is indicative of the difference between the actual position of each respective side of the machine along the single axis, and means for coupling the difference error signal to means for driving at least one of the motors for causing a change in movement of that motor in a direction to move each side of the machine toward the same actual position while at the same time causing the difference error signal to be reduced toward zero.

Abstract: Two substantially identical servo channels, coupled through a differential mechanism, position an attitude control surface of an aircraft in response to a common command signal applied to both channels. The common command is coupled to each channel through separate displacement and rate limiting devices to limit the attitude displacement and rate of change of attitude commands about the associated aircraft axis. In the pitch axis a separate normal accelerometer controls each command rate limit so as to prevent excessive pitch maneuvers due to the common command source.

Abstract: A motor drive system including a direct-current motor arranged in tandem with a stepping motor. The stepping motor is energized by conventional means. The direct-current motor is energized by a constant-current drive means, which is responsive to signals from magnitude and direction sensing means. The direct-current motor and stepping motor coact to provide a controlled mechanical output.

Abstract: Automatic guiding apparatus has first and second drive wheels which are driven from a common source for effecting feeding of a workpiece in a straight line through a machine. For effecting steering of the workpiece along a line parallel to the edge, a sensor senses the edge, a computer calculates the speed differential required to be imparted to the two drive wheels for steering about the center of curvature of the edge, and an adding device superimposes additional positive or negative speed on one of the drive wheels. The adding device can be mechanical, such as a differential gearbox, where the wheels are driven from a common motor, or a frequency shifter where the wheels are driven by separate stepper motors supplied with pulses from a common oscillator. Automatic speed control is incorporated for negotiating sharp corners. The drive wheels are parallel to each other.