A New Structure Design Method for Improve Modular Joint Output Performance in Modular Robot

Abstract

A novel structure design method to improve the output performance in course of modular robot is presented in this paper. The new design parameter of modular joint is defined based on analysis of existing joint. Output torque and Max speed is increased by means of different Brushless DC-Servomotor and harmonic reducer in limited interspace. The repeated positioning accuracy is not reduced when output torque and Max speed are increased. And parts of the process parameters is improved. The new design parameters show that the design method is feasible.