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Redundant actuators enable to distribute power among two motors, which can be selected optimally in terms of efficiency. We propose a methodology that finds effective combinations of motors and gearboxes… Click to show full abstract
Redundant actuators enable to distribute power among two motors, which can be selected optimally in terms of efficiency. We propose a methodology that finds effective combinations of motors and gearboxes for a dynamic load, taking into account the constraints, inertia, and efficiency of each component. Focusing on battery-operated robots as an application, it also considers battery pack mass in relation to the energy required by the actuator for multiple hours of operation. Based on this methodology, a prototype of a kinematically redundant actuator for the distal joint of a robot was built. Simulations and experiments are presented to prove the validity of the proposed approach.
Journal Title: IEEE Robotics and Automation Letters
Year Published: 2022
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