Part

Actuators

You might say: motors, drives, muscles

Actuation is the chain that converts electrical or fluid power into controlled joint motion. A common electric unit combines a motor, transmission and driver.

What it does

It supplies joint torque and speed while setting heat, mass, compliance and backdrivability.

Ask

Is there enough continuous and peak torque at the required speed without overheating?

What to look for

1. Controlled joint motion
2. Joint torque and speed
3. Heat, compliance or backdrivability changes

Parts

• Electric motor: An electric motor converts current into torque.
• Gearbox: A gearbox trades motor speed for output torque.
• Motor driver: A motor driver switches power into motor phases and closes current, velocity or position loops.

Catalogue: Actuator design

• High-ratio geared servo: A high-ratio geared servo uses a fast motor and reducer to obtain larger joint torque at lower output speed; UR5 is described with 100:1 harmonic gearing. A fast motor and reducer producing larger joint torque at lower output speed defines it; UR5 is one example.
• Quasi-direct drive: Quasi-direct drive couples a high-torque-density motor to a transmission below 10:1; Blue uses a 7.125:1 belt reduction and emphasizes backdrivability. A high-torque-density motor coupled to a transmission below 10:1 defines it; Blue is one example.
• Series elastic: A series elastic actuator places a compliant element between the transmission and load; measured deflection gives force through F = kx.
• Hydraulic: Hydraulic actuation is a high-power architecture used in Boston Dynamics' research Hydraulic Atlas; the current Atlas product page is all-electric.

Sources

1. Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, Ch. 8 §8.9Most robots are driven by actuators that apply a force or torque to each joint.

Use it on your project

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