DRPD, Dual Reduction Ratio Planetary Drive for Articulated Robot Actuators
Tae-Gyu Song,Young-Ha Shin,Seungwoo Hong,Hyungho Chris Choi,Joon-Ha Kim,Hae-Won Park,Tae-Gyu Song,Young-Ha Shin,Seungwoo Hong,Hyungho Chris Choi,Joon-Ha Kim,Hae-Won Park
This paper presents a reduction mechanism for robot actuators that can switch between two types of reduction ratio. By fixing the carrier or ring gear of the proposed actuator which is based on the 3K compound planetary drive, the actuator can shift its reduction ratio. For compact design with reduced weight of the actuator, unique pawl brake mechanism interacting with cams and micro servos for sw...
