Abstract
High-performance actuators are critical to the biped robot, which are required to be high torque output, high dynamic response, and lightweight. The quasi-direct drive (QDD) actuation has the advantages of fast response and simple structure and has been widely used in quadruped robots, but its output torque and torque density are relatively low. Based on the scheme of QDD, a high torque and high torque density actuator is proposed for biped robots. It adopts an axial flux motor with a peak torque of 12.5 Nm and a two-stage planetary reducer with a reduction ratio of about 16. For the axial flux motor current is very large, we also design the driver with high current output capacity and introduce the air cooling method based on small fans. As a result, the proposed actuator has a maximum torque of 206 Nm, a maximum speed of 120 rpm, and weighs only 2 kg. Lots of experiments have been carried out to measure the characteristics of the actuator, and it has been successfully applied to our biped robot, which can meet the requirements of walking at a speed of 6 km/h.
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Acknowledgment
This work is supported by National Natural Science Foundation of China (Grants 52205034), “Pioneer” and “Leading Goose” R&D Program of Zhejiang (No. 2023C01177), Key Research Project of Zhejiang Lab (No. G2021NB0AL03), the National Natural Science Foundation of China (Grant No. 52205076).
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Hua, Q. et al. (2023). Design of an Actuator for Biped Robots Based on the Axial Flux Motor. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14270. Springer, Singapore. https://doi.org/10.1007/978-981-99-6492-5_22
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DOI: https://doi.org/10.1007/978-981-99-6492-5_22
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