Design and testing of a prototype transmission-based robot servoactuator

摘要

A novel actuator concept has been developed and prototyped. By integrating a multi-speed transmission with a high performance permanent magnet DC servomotor, it has been shown that an electrical drive can provide power/torque density and physical size that approaches the capabilities of electrohydraulics. Preliminary experimental tests of the prototype are encouraging and the first steps toward verifying the concept.