ACTUATOR 2014 Manuscript Poster 22

Author: Hubert Borgmann
Pages: 4
Language: English
Publication date: 10/04/2015
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Manuscript Poster 22 published in Conference Proceedings ACTUATOR 2014
On the Performance of Actuators with Harmonic Drive Speed Reducers

A. Parmiggiani, M. Randazzo, G. Metta
Fondazione Istituto Italiano di Tecnologia, Genova, Italy

Harmonic Drives (HD) are commonly used in robotics because of zero-backlash and compactness. This makes them ideal for several mechatronic applications. Despite their wide use, there is no compelling literature on their performance, and to date it is not clear how they fare in a complete actuation setup. In this work we evaluate the joint structure we currently install on the iCub humanoid robot comprising an HD speed reducer showing that their efficiency is not optimal.
El vendedor asume toda la responsabilidad de esta entrada.
Hubert Borgmann, MESSE BREMEN,
Project Manager ACTUATOR, International Conference and Exhibition on New Actuators and Drive Systems, Bremen, Germany, and Editor of the ACTUATOR Conference Proceedings (
Project Manager ITHEC, International Conference and Exhibition on Thermoplastic Composites, Bremen, Germany, and Editor of the ITHEC Conference Proceedings (

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