Variable Transmission Mechanisms for Robotic Applications: A Review

초록

Over the past decades, significant efforts have been dedicated to the development of ideal actuators for robotic systems, focusing on both mechanisms and design aspects [1], and they are implemented as a form of electric motors and hydraulic/pneumatic actuators. In the case of electric motors, they have emerged as a widely adopted choice for actuating robotic systems due to their compactness, ease of implementation, excellent linearity, and high-control bandwidth. Consequently, they remain one of the favorable compromise solutions for general robotic applications, offering exceptional dynamic output and precise control [2], [3]. In addition, electric motors exhibit a higher energy per weight or volume density than that of the human musculoskeletal system [4], [5], making them apparently advantageous for robotic applications.

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