论文标题
选择用于准直接驱动执行器的电动机的替代指标
Alternative Metrics to Select Motors for Quasi-Direct Drive Actuators
论文作者
论文摘要
用于腿部运动的机器人系统（包括腿部机器人，外骨骼和假肢）需要低惯性和高输出扭矩的执行器。传统上，通过最大化电动机间隙半径为这些应用选择了电动机。我们提出了不变与传输比的电机选择的替代指标。拟议的指标奖励最大程度地减少电动机惯性，同时最大程度地提高了扭矩和电动机常数，而无需特别考虑间隙半径，从而为腿部的运动应用提供了更好的属性平衡。我们严格地表征了T-MOTOR RI50，并通过将RI50与广泛使用的T-Motor U8进行比较作为案例研究，证明了指标的使用。
Robotic systems for legged locomotion -- including legged robots, exoskeletons, and prosthetics -- require actuators with low inertia and high output torque. Traditionally, motors have been selected for these applications by maximizing the motor gap radius. We present alternative metrics for motor selection that are invariant to transmission ratio. The proposed metrics reward minimizing the motor inertia while maximizing the torque and motor constants without special consideration for gap radius, providing a better balance of properties for legged locomotion applications. We rigorously characterize the T-Motor RI50 and demonstrate the use of the metrics by comparing the RI50 to the widely-used T-Motor U8 as a case study.
