Design and fabrication of high-power smart actuator module

Abstract

In building a prototype for robot research, it is very useful to use smart actuator modules that include an electric motor, a reducer, and a controller. These modules help maintain low costs, short development times, and high reliability. However, smart actuator modules in the market are limited in their application to building small robots, because most have a low power, i.e., lower than 10 W. This paper presents a high-power actuator module, which can be used for building child-sized robots. The module's mass is 1.3 kg, and its maximum power is 200 W, with a maximum torque of 50 N·m. Further, it can be installed in various ways to produce many different joint structures.