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Electric motor scaling laws and inertia in robot actuators | Robot Daycare

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Engineering contraptions

This is the beginning of a series of posts about robot actuation. The intent here is not to prescribe some specific architecture or solution, but to talk about the fundamentals, with as little bias as I can manage. Hopefully you learn something. Here's an ostensibly straightforward question for anyone who's spent time thinking about robot actuators. Take a look at the three cartoon actuators below. One has a large, direct-drive motor, one has a medium-sized motor with a single-stage gear reduction, and the third has a small motor with a a two-stage reduction. The gear ratios are chosen so that

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