Robots for home, office, school and more!

EPIC Drive – A robotic revolute actuator

 

EPIC Drive is an elastic EPICycloid reducer with equipped with a stepper motor controlled in closed loop with:

  • Current, torque and redundant position feedback
  • Control loops for position, velocity, force and deformation
  • Very compact and light weight

Included in the DaGma robotic platform, EPIC Drive can enable features like:

  • Collaborative technology
  • Haptic feedback systems
  • Predictive mass and weight calculation
  • Non Cartesian weight balancer

 

ModelED-3-22:1 
Max output torque3Nm (??)
Transmission ratio (i)Approx-22:1
(-4420:203)
Max load166
(Not really sure!)
kgcm^2 (lb ft^2)
Max axial load200N (lb)
Max radial load200N (lb)
Max velocity7rpm
Backlash0º
Resolution76206pulse per rev
Torsional elasticity
(uncompensated)
1 to 3
(Still have to decide what it will be!)
º/Nm (º/lbft)
Copyright © Fernando Figueiredo