Abstract
Building humanoid robots with properties similar to those of humans in terms of strength and agility is a great and unsolved challenge. In this article, we introduce an adaptive linear drive for fast and powerful motions in robotics with a light gear mechanism: Adaptive Cycloidal Linear Drive. The gear mechanism features two transmission ratios covering a nominal operation region ranging from fast low-torque motions to slow high-torque motions, with a speed–force profile similar to those of human muscles. This is contrary to the limited nominal operation region of electric motors with single-ratio gearboxes and is realized by the new idea of adaptively combining a cycloidal stage with a linear spindle drive. The operation principle of the gear mechanism and hardware design of a prototype are described. Furthermore, the properties of the prototype are measured and compared with state-of-the-art solutions in robot design as well as to the performance of human muscles.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
