Integrated Planetary Gear Joint Actuator Concept for Wearable and Industrial Robotic Applications

This paper presents a new joint actuator concept, primarily aimed at applications requiring high and well controlled torque and low rotational speed from a compact package. These applications include but are not limited to wearable and industrial robotics. Compared to the typically used Harmonic Drive approach, the suggested concept is based on a planetary gearbox coupled with a high torque electric main drive as well as additional integrated smaller electric drives. This not only allows for improved torque output in terms of amplitude, ripple and dynamics but also for generation of additional data and enabling of operating strategies, adapted to specific applications.