Abstract
The compact and high-power actuator developed by the author is a key part of the device; Active Compliance device. The device is set between a robot and an end effector to enable soft handling. This actuator has some of the following features. This actuator has triple coils, twin magnets, and ball splines. This has made generating high-power and flat thrust characteristics in a compact structure realizable. Linearity of thrust is kept and magnetic flux saturations is constricted during high current. A temperature elevation of this actuator is reduced by the improvement in efficiency of the motors. In addition, the stiffness of the moving part is strengthened. And power consumptions during non-working hours have been lowered. In this paper, we introduce the structure of this actuator and explain the features described above.
