Hollow Low Gear Ratio Equipped μDD Motor

Addressing the Customer Demand:
Hollow Reduction Geared Motor with Enhanced Torque!

Hollow Shaft

Directly utilize the main feature of μDD Motor, which is the
hollow shaft.Of course, we also have single-shaft (solid shaft)
types of encoder

Low Gear Ratio

 Focused on backdrivability and offer two gear ratio options:
1:3 and 1:9. Thanks to the high torque of the μDD Motor,
there ratios are practical

Compact Size
(Miniaturization)

By pinionizing the motor shaft, we have reduced the size.
MD-20 Series:+15㎜(ratio 1:3),+20㎜(ratio 1:9)
MD-40 Series:+21㎜(ratio 1:3),+27㎜(ratio 1:9)

Major Applications

easySCARA2.png

MagLinkage

Actuator that enables high-speed gripping while absorbing impacts, similiar to human capabilities. By taking an opposite approach to conventional robots, which control rigit actuators softly, we have achieved operations that were preciously deemed impossible

Client：Ishikawa Group Laboratory, University of Tokyo / 　　　　
         Harada Laboratory, Osaka University

MDH-70シリーズ

Real Haptic Prosthesis

A prosthetic hand that transmits forces bidirectionally between the hand and foot pedals,
providing a sense of touch. Unlike conventional myoelectics hands with ON/OFF movements,
this prosthesis allows precise adjustment of force.

Client：Nozaki Laboratory, Keio University




MDS/MDH-20シリーズ

MDH-20 Geared Motor

World's smallest through-shaft servo motor.
Ideal for driving fingers and wrist of compact hands.

  • Body Diameter：□21mm
Specification Sheet
Inquiry
Phone：050-3183-0149

Operating Hours: Weekdays 9:00 AM - 5:30 PM

    ＭＤ-2018 ＭＤ20×1/3 Gear ＭＤ20×1/9 Gear
Maximum Torque N･m 0.130 0.331 0.842
Continuous Torque N･m

0.030

 0.076

0.194
Length mm

43.5

 58.5

63.5
Weight g

120

 149

153

MDH20＋1/3 Hollow Gear Motor (External Dimension)

MD2003gear.png

MDH20＋1/9 Hollow Gear Motor (External Dimension)

MD2003gear.png

MDS/MDH-20シリーズ

MDH-40 Geared Motor
Achieve both high torque and backdrivability
Ideal for driving fingers,wrist,and elbow of robot hands.
  • Body Diameter：□40mm
Specification Sheet
Inquiry
    ＭＤ-4018 ＭＤ40×1/3 Gear ＭＤ40×1/9 Gear
Maximum Torque N･m 1.000 2.550

6.480
Continuous Torque N･m

0.230

 0.586 1.490
Length mm

43.5

 64.0

70.5
Weight g

300

 424

463

MDH40＋1/3 Hollow Geared Motor (External Dimension)

MD4003gear.png

MDH40＋1/9 Hollow Geared Motor (External Dimension)

MD4009gear.png

The Importance of Reduced Speed

Backdrivability

One of the significant advantages of using DD motors is backdriavility. As the gear ratio increases,backdrivability worsens,making it difficult to provide feedback on the load side`s condition. By reducing the gear ratio, it becomes possibles to provide feedback over a wide range, especially for small torque conditions.

What is Backdiravility?

Low-Inertia

While friction and efficiency can be improved through processing precision and deceleration methods, inertia momentum always comes into play. It significantly affects the motor`s responsiveness and acceleration/deceleration, leading to compromised agility in motion. By reducing teh gear ratio, it enables motor control with excellent responsiveness, including shock absorption and tactile
feedback. 

Performing Shock Absorption Control at High Speed
[MagLinkage] Robot Hand

Unique

We have received numerous inquiries asking "Are there any gears that match μDD Motors?" Small
gears are readily available in the market, but they lack "Low Gear Ratio." This is because the added value of gears attached to motors has been high gear ratios and
low backlash. Gears that match the niche specifications of μDD Motors were also niche products themselves.

Due to the emphasis on the mentioned characteristics, please note that there is an approximate backlash of about 30 arc-minutes (approximately 0.5°). It may not be suitable for precision positioning applications.。


Robot Utilizing Low Gear Ratio

MDS/MDH-20シリーズ


Real Haptics Prosthetic Hand

While providing torque equivalent to a human`s gripping strength, it takes advantage of backdrivability to enable high-preicision tactile feedback.
MDS/MDH-30シリーズ

Bimanual Robot「GP-Arm」

Equipped with low gear ratio μDD Motors in the fingers,wrists,elbows,and shoulders, allowing for high-precision tactile feedback.
MDS/MDH-20シリーズ

Compact & Low Friction Actuators
Multi-Finger Hand「MagLinkage」

Enabling precise feedback and absorb shock upon detecting contact through low gear ratio, resulting in high rensponsiveness.

Driver Option

Compatible with farious manufactures. Please refer to the Catalog for collaboration amplifier models.

 Manufacturer Driver Model
(Amplifier)		 Interface Power
Supply		 Features
MTL MC-200-7220A Pulse Sequence,USB DC24/48V Compact General Purpose
MC-200-7220D SPI 、USB DC24/48V Compact General Purpose
MC-200C-6018D SPI 、USB DC24/48V Ultra-Compact
Mitsubishi
Electronics 		 MR-J4W2-0303B6-MX940J〇〇 SSCNETⅢ/H DC48V 2-Axis Integrated
MR-J4-20A-RJJ001 Pulse Sequence AC200V Collaboration Only
MR-J4-20B-RJJ001 SSCNETⅢ/H AC200V Collaboration Only
Panasonic   MMDHT2B09ND1 RTEX DC48V Compact
MBDLT25NF RTEX AC200V Multi-Function Type
MBDLT25BF EtherCAT AC200V Multi-Function Type

　Note）
①Mitsubishi Electric and Panasonic amplifiers are not sold by our company.
   Please consult the respective distributors.
②Mitsubishi Electric J4 Collaboration is compatible
   only with the incermental encoder of our μDD Motors.

Connector Cables Option

s
MC-200-7220A(※1)/MC-200-7220D/MC-200C-6018D(※2)
Specifications Models Cable Length
Power Supply Connector  CN1ケーブル(4.2)1M-TE 1.0m
Motor Extension
Connector Cable		 CN2 Flexible Cable (4.2)0.7M 0.7m
CN2 Flexible Cable(4.2)2.7M 2.7m
CN2 Flexible Cable(4.2)4.7M 4.7m
Encoder Extension 
Connection Cable		 CN3 Flexible Cable(4.2)0.7M 0.7m
CN3 Flexible Cable(4.2)2.7M 2.7m
CN3 Flexible Cable (4.2)4.7M 4.7m
miniUSB Cable CN5 Cable 1.0m
Mitsubishi Electric　MR-J4W2-0303B6-MX940J〇〇
Specifications Models Cable Length
Motor Extension 
Connection Cable

 CN2 Flexible Cable(4.2)0.7M 0.7m
CN2 Flexible Cable(4.2)2.7M 2.7m
CN2 Flexible Cable(4.2)4.7M 4.7m
Motor Conversion
Connector Cable		 CN2 Flexible Cable(4.2)0.2M-(CF) 0.2m
Encoder Extension
Connection Cable		 CN3 Flexible Cable(4.2)0.7M 0.7m
CN3 Flexible Cable(4.2)2.7M 2.7m
CN3 Flexible Cable(4.2)4.7M 4.7m
Encoder Conversion
Connector Cable		 CN3 Flexible Cable(4.2)0.2M-TE(J4W2) 0.2m
miniUSB Cable CN5 Cable 1.0m
Mitsubishi Electric　MR-J4-20A-RJJ001/MR-J4-20B-RJJ001
Specifications Models Cable Length
Motor Extension
Connection Cable		 CN2 Flexible Cable(4.2)0.7M 0.7m
CN2 Flexible Cable(4.2)2.7M 2.7m
CN2 Flexible Cable(4.2)4.7M 4.7m
Motor Conversion
Connection Cable		 CN2 Flexible Cable(4.2)0.2M-(CF) 0.2m
Encoder Extension
Connection Cable		 CN3 Flexible Cable(4.2)0.7M 0.7m
CN3 Flexible Cable(4.2)2.7M 2.7m
CN3 Flexible Cable(4.2)4.7M 4.7m
Encoder Conversion
Connection Cable		 CN3 Flexible Cable(4.2)0.2M-TE(J4) 0.2m
miniUSB Cable CN5 Cable 1.0m
Panasonic　MMDHT2B09ND1
Specifications Models Cable Lenth
Motor Extension
Connector Cable		 CN2 Flexible Cable(4.2)0.7M 0.7m
CN2 Flexible Cable(4.2)2.7M 2.7m
CN2 Flexible Cable(4.2)4.7M 4.7m
Motor Conversion
Connection Cable		 CN2 Flexible Cable(4.2)0.2M-TE(M枠) 0.2m
Encoder Extension
Connector Cable		 CN3 Flexible Cable(4.2)0.7M 0.7m
CN3 Flexible Cable(4.2)2.7M 2.7m
CN3 Flexible Cable(4.2)4.7M 4.7m
Encoder Conversion
Connection Cable		 CN3 Flexible Cable(5.6)
0.2M-JST(MINAS)		 0.2m
miniUSB Cable CN5 Cable 1.0m
Panasonic　MBDLT25NF/MBDLT25BF
Specifications Models Cable Length
Motor Extension
Connection Cable		 CN2 Flexible Cable(4.2)0.7M 0.7m
CN2 Flexible Cable(4.2)2.7M 2.7m
CN2 Flexible Cable(4.2)4.7M 4.7m
Motor Conversion
Connection Cable		 CN2 Flexible Cable(4.2)0.2M-(CF) 0.2m
Encoder Extension
Connection Cable		 CN3 Flexible Cable(4.2)0.7M 0.7m
CN3 Flexible Cable(4.2)2.7M 2.7m
CN3 Flexible Cable (4.2)4.7M 4.7m
Incremental Encoder
Connection Cable		 CN3 Flexible Cable(5.6)0.2M-JST
(MINAS)		 0.2m
Absolute Encoder
Connection Cable		 MFC-10P

 0.2m
miniUSB Cable CN5 Cable 1.0m

※1: The CN4 connector cable for MC-200-7220A needs to be provided by the user.
      (Connector Model: 10136-3000PE)
※2:The CN1/CN4 connector cables for MC-200C and the conversion connector cables
      for CN2/CN3 are included

Please contact us if you require documents or sample. 

Contact：Aoyagi
Mail：aoyagi@mtl.co.jp

Inquiry Form
【References】

Journal of Robotics Society of Japan
Backdrivability of Robots and Actuators (Yasukazu Suzumori, Okayama University)
https://www.jstage.jst.go.jp/article/jrsj/31/6/31_31_548/_pdf

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