R2poweR: The Proof-of-Concept of a Backdrivable, High-Ratio Gearbox for Human-Robot Collaboration
P. L. Garcia,S. Crispel,A. Varadharajan,E. Saerens,T. Verstraten,B. Vanderborght,D. Lefeber,P. L. Garcia,S. Crispel,A. Varadharajan,E. Saerens,T. Verstraten,B. Vanderborght,D. Lefeber
Robotic engineers face major challenges to solve the complex actuation needs of Human-Robot Collaboration with existing act robotic gearboxes. Available technologies comprise high-ratio Planetary Gearheads, Cycloid Drives and Harmonic Drives, inherited from conventional industrial robotics. Alternative approaches include Direct-Drive and Quasi Direct-Drive actuation strategies, which propose to ca...
