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Development and design of a highly integrated pseudo direct drive actuator for legged robots
The Goal of this Project is to develop and design a fully integrated pseudo direct drive actuator for legged robots of the 30kg-class.
Keywords: Pseudo Direct Drive, Actuator, Legged robots, Motor, Transmission, Drive
High fidelity actuation is a key hardware element for legged robots. Besides mechanical robustness against impulsive loads, actuators have to allow for high torque-to-weight ratio as well as accurate and high bandwidth force control.
A promising concept, which fulfils the requirements, are so-called “pseudo” direct drive actuators.
Those actuators consist of a high-torque motor coupled with a low-reduction planetary gear and integrated drive electronics.
So far, we have conducted a number of studies on the actuation principle and developed an upscale prototype, while a fully integrated small-scale actuator is not yet available.
Your task will be to consolidate our design studies and to holistically develop and design a fully integrated pseudo-direct-drive actuator. A special focus shall be laid on the ability of a clever integration in the leg.
High fidelity actuation is a key hardware element for legged robots. Besides mechanical robustness against impulsive loads, actuators have to allow for high torque-to-weight ratio as well as accurate and high bandwidth force control. A promising concept, which fulfils the requirements, are so-called “pseudo” direct drive actuators.
Those actuators consist of a high-torque motor coupled with a low-reduction planetary gear and integrated drive electronics. So far, we have conducted a number of studies on the actuation principle and developed an upscale prototype, while a fully integrated small-scale actuator is not yet available.
Your task will be to consolidate our design studies and to holistically develop and design a fully integrated pseudo-direct-drive actuator. A special focus shall be laid on the ability of a clever integration in the leg.
- Literature study and familiarization with the concept
- Requirements definition
- Conceptual design of the motor, gear train, electronics
- Detailed design of the motor, gear train, electronic
- Implementation of control
- Manufacturing and testing of a prototype
- Literature study and familiarization with the concept - Requirements definition - Conceptual design of the motor, gear train, electronics - Detailed design of the motor, gear train, electronic - Implementation of control - Manufacturing and testing of a prototype
- High motivation and interest in the topic
- Methodological and goal-oriented working behavior
- Good mechanical design skills
- Good "system thinking" skills
- Knowledge of C++ is a useful asset
- High motivation and interest in the topic - Methodological and goal-oriented working behavior - Good mechanical design skills - Good "system thinking" skills - Knowledge of C++ is a useful asset
Please contact Hendrik Kolvenbach(hendrik.kolvenbach@mavt.ethz.ch) for any questions. Your application should include a brief motivational statement, your transcript of records and your CV.
Please contact Hendrik Kolvenbach(hendrik.kolvenbach@mavt.ethz.ch) for any questions. Your application should include a brief motivational statement, your transcript of records and your CV.