Miniature direct drive rotary actuators

摘要: Abstract This paper reports the development of direct drive DC motor actuators for miniature robots. The motors are based on Nd-Fe-B rare earth permanent magnets and controlled by low cost microcontrollers. have friction, small size, high speed, construction cost, no gear backlash, operate safely without limit switches, limited self-braking, generate moderate torque. Significantly, one can enough torque to lift a second about same size against force gravity, at distance approximately equal motor, resorting use counterweight. We demonstrated feasibility using these make two-link robot finger or leg.