Skip to main content

Table 1 Performance parameters of driving devices and actuating devices of joints

From: Power Consumption Characteristics Research on Mobile System of Electrically Driven Large-Load-Ratio Six-Legged Robot

Joint

Rated voltage

\(U^{\left( i \right)}\)(V)

Torque constant

\(K_{{\text{M}}}^{\left( i \right)}\)(mN·m)

Transmission ratio

\(i^{\left( i \right)}\)(mm)

Transmission efficiency

\(\eta^{\left( i \right)}\)

Abductor joint

48

40.6

2240

0.455

Hip joint

48

84.9

2220

0.455

Knee joint

48

40.6

4640

0.455