A drive system comprising an integrated gearhead motor system that producesrelatively high torque output with minimal backlash. The present invention uses twoaxially mounted electric or air motors and gearhead assemblies integrated into a singleunit. The two motor and gearhead assemblies are connected to concentric output driveshafts, and each output shaft mates to a respective gear of a split gear assembly. Thesplit gear assembly is coupled to a drive shaft of a device that is to be driven by thesystem. A tachometer is coupled between the first motor and a position sensor iscoupled to the drive shaft of the device that is to be driven. The tachometer andposition sensor are coupled to a controller that is used to control the respective torquesprovided by the two motors in response to rate and position signals provided thereby.By controlling the relative amount of torque provided by the two motors, the split gearassembly removes the backlash from the gearheads and gear interfaces to the drive shaftof the device that is to be driven. The present invention incorporates the two motorsand two gearhead assemblies into a single assembly, reducing weight and spacerequirements. The design of the present invention also permits retrofitting of the drivesystem into existing single motor drive systems.
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