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Optimal Actuator Design

biomimetics.mit.edu · 904 words · saved by 2 readers

In designing a robot, the actuator’s allowable mass and required output torque are determined by the application. However, these requirements still leave a broad design space within which to select motor size and gear ratio. We have developed an actuator design method that enables force control in applications with highly dynamic environmental interactions. The method optimizes the motor selection and gear ratio for high fidelity proprioceptive force control within given actuator weight constraints. We implemented the method in the primary actuators of the MIT Cheetah. The high speed legged locomotion of the MIT Cheetah requires high accelerations and loadings of the robot’s legs. Because of the highly dynamic environmental interactions that come with running, variable impedance of the legs is desirable; however, existing actuation strategies cannot deliver. Typically, electric motors achieve their required torque output and package size through high gear ratios. High ratios limit opti

Optimal Actuator Design In designing a robot, the actuator’s allowable mass and required output torque are determined by the application. However, these requirements still leave a broad design space within which to select motor size and gear ratio. We have developed an actuator design method that enables force control in applications with highly dynamic environmental interactions. The method optimizes the motor selection and gear ratio for high fidelity proprioceptive force control within given actuator weight constraints. We implemented the method in the primary actuators of the MIT…

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