# US 2025/0083307 A1 · Actuator > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2025/0083307 A1 - Document ID: US20250083307A1 - Status: Published application - Kind: A1 - Application number: 18/829,384 - Filed: 2024-09-10 - Published: 2025-03-13 - Earliest claimed: 2023-09-11 - Assignees: Sumitomo Heavy Industries, Ltd. - Applicants: Sumitomo Heavy Industries, Ltd. - Inventors: Koji MORITANI - Web page: https://patentgrep.com/patent/US20250083307A1 ## CPC - B25J 9/126: {Rotary actuators} - H02K 7/116: with gears - H02K 1/278: Surface mounted magnets; Inset magnets - H02K 29/03: with a magnetic circuit specially adapted for avoiding torque ripples or self-starting problems - H02K 7/14: Structural association with mechanical loads, e.g. with hand-held machine tools or fans (with fan or impeller for cooling the machine H02K9/06) - H02K 2213/03: Machines characterised by numerical values, ranges, mathematical expressions or similar information - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53}) ## Abstract An actuator includes: a motor; and a speed reducer that reduces rotation of the motor, in which the speed reducer has an efficiency of 60% or more, and the actuator includes a control unit that performs control to suppress a cogging torque of the motor. ## Claims ### Claim 1 An actuator comprising: a motor; and a speed reducer that reduces rotation of the motor, wherein the speed reducer has an efficiency of 60% or more, and the actuator includes a control unit that performs control to suppress a cogging torque of the motor. ### Claim 2 (depends on 1) The actuator according to claim 1, wherein the motor is a low-cogging motor in which a multiplication of the cogging torque and a reduction ratio is equal to or less than an output starting torque of the speed reducer. ### Claim 3 (depends on 2) The actuator according to claim 2, wherein the motor is a coreless motor. ### Claim 4 (depends on 3) The actuator according to claim 3, wherein the actuator is an actuator that drives a joint of a cooperative robot having an operation ratio of 20% ED or less. ### Claim 5 (depends on 1) The actuator according to claim 1, wherein the motor includes a configuration for suppressing a cogging torque of an order lower than an order of a least common multiple of the number of magnetic poles and the number of slots of the motor. ### Claim 6 (depends on 1) The actuator according to claim 1, wherein the motor includes an integral core type stator core. ### Claim 7 (depends on 1) The actuator according to claim 1, wherein the motor includes a split core type stator core, and at least one of an inner peripheral surface and an outer peripheral surface of the stator core includes a machined surface. ### Claim 8 (depends on 1) The actuator according to claim 1, wherein the motor includes a rotor core in which a plurality of magnet disposition surfaces on which magnets are disposed are provided in a circumferential direction, and the magnet is disposed closer to one side in the circumferential direction of the magnet disposition surface. ### Claim 9 (depends on 1) The actuator according to claim 1, further comprising: a detection unit that detects a force acting on an output shaft of the actuator, wherein the control unit controls the actuator based on a detection result of the detection unit. ### Claim 10 (depends on 1) The actuator according to claim 1, wherein the control unit performs control to suppress a cogging torque of an order lower than an order of a least common multiple of the number of magnetic poles and the number of slots of the motor. ### Claim 11 (depends on 1) The actuator according to claim 1, further comprising: a storage unit that stores cogging information regarding the cogging torque of the motor, wherein the control unit performs control to suppress the cogging torque, based on the cogging information stored in the storage unit.