抄録
This paper describes the development of a micro servoactuator composed of a DC brushless motor and a planetary gear drive for application to joint driving for miniature robots. Through the optimization of pole location and coil shape of the DC brushless motor and the improvement of efficiency of the 3K-type mechanical paradox planetary gear drive based on the adjustment of contact ratio, several new micro servoactuators were designed and built. A prototype, only 13.5mm in diameter and 40mm in length, generated a maximum torque of 0.38Nm at an output power of 1.5W. The volume of the micro servoactuator has decreased by 30% or more compared with conventional motors with the same rated.
