Reduced backlash zero cogging reversing transmission

A transmission apparatus comprising:

• a follower gear;
• a first drive gear set coupled with the follower gear to drive the follower gear, the first drive gear set including at least one gear;
• a second drive gear set coupled with the follower gear to drive the follower gear, the second drive gear set including at least one gear;
• a first motor coupled with the first drive gear set, the first motor including a plurality of poles which are movably disposed relative to a plurality of magnets to produce a torque which varies in time between a first maximum level and a first minimum level;
• and
• a second motor coupled with the second drive gear set, the second motor including a plurality of poles which are movably disposed relative to a plurality of magnets to produce a torque which varies in time between a second maximum level and a second minimum level;
• wherein the torque of the first motor does not reach the first maximum level at the same time that the torque of the second motor reaches the second maximum level, and wherein the torque of the first motor does not reach the first minimum level at the same time that the torque of the second motor reaches the second minimum level.

A method of reducing or eliminating cogging effects in a transmission device, the method comprising:

• providing a first drive gear set which includes at least one gear;
• providing a second drive gear set which includes at least one gear;
• coupling the first drive gear set and the second drive gear set with a follower gear;
• coupling a first motor with the first drive gear set, the first motor including a first rotor having a plurality of poles movably disposed relative to a plurality of magnets;
• coupling a second motor with the second drive gear set, the second motor including a second rotor having a plurality of poles movably disposed relative to a plurality of magnets;
• positioning the first motor and the second motor to maintain a disposition of the poles relative to the magnets of the first motor to be out of phase with respect to a disposition of the poles relative to the magnets of the second motor.

A method of reducing or eliminating cogging effects in a transmission device, the method comprising:

• providing a first drive gear set which includes at least one gear;
• providing a second drive gear set which includes at least one gear;
• coupling the first drive gear set and the second drive gear set with a follower gear;
• coupling a first motor with the first drive gear set, the first motor including a first rotor having a plurality of poles movably disposed relative to a plurality of magnets;
• coupling a second motor with the second drive gear set, the second motor including a second rotor having a plurality of poles movably disposed relative to a plurality of magnets;
• positioning the first rotor of the first motor and the second rotor of the second motor to be out-of-phase with respect to one another such that the torque of the first motor and the torque of the second motor do not reach the maximum level at the same time and do not reach the minimum level at the same time.