Design and Experimental Characterisation of a Novel Quasi-Direct Drive Actuator for Highly Dynamic Robotic Applications
C. Adrián Pérez-Díaz,Ignacio Muñoz,Daniel Martin-Hernández,Carlos Candelo-Zuluaga,Ivan Torres,Jordi Marsà,Daniel Sanz-Merodio,Miguel López,C. Adrián Pérez-Díaz,Ignacio Muñoz,Daniel Martin-Hernández,Carlos Candelo-Zuluaga,Ivan Torres,Jordi Marsà,Daniel Sanz-Merodio,Miguel López
This paper presents the design and experimental results of a proprioceptive, high-bandwidth quasi-direct drive (QDD) actuator for highly dynamic robotic applications. A comprehensive review of the mechanical design of the PULSE115-60 actuator is presented, with particular focus on the design parameters affecting the dynamic performance of the actuator and a full specification is provided. Fundamen...
