Development of slotless type brushless DC motors and planetary gear heads for robot

This paper presents the development results for slotless type brushless DC motors and planetary gear heads for service and special purpose robot applications. The designed slotless BLDC motor has a hexagonal winding shape, and the developed motor sizes are 22, 32, and 40mm with the outer diameters. The developed gear heads are planetary type, and the gears are manufactured by the powder injection molding (PIM) method to increase the gear strength and to decrease the backlash. The output performances of the motors and gear heads are tested in various conditions.