Chapter 2 Actuators and Drive Systems - MIT OpenCourseWare
and needs a high torque to bear the load. In other words, the impedance of the actuator: m m m angular velocity torque Z ω τ = = (2.2.1) is much smaller than that of the load. τload ωload Joint Axis Gearing Arm Links DC Motor Figure 2.2.1 Joint axis drive system 1 Although a robotic system has multiple axes driven by multiple actuators ...
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