Simulation and Validation of A Dual-motor Coupled Joint Actuator

Flat motor + planetary reducer and flat motor + harmonic reducer are two typical driving configurations of joint actuators in many robotic applications. Nevertheless, they still have inherent technological limitations and a new joint driving architecture is highly desirable in the robotics research community. We proposed a dual-motor coupled joint actuator aiming for better kinematics performance, fast dynamic response, and high power density. Two motors were placed at the upper and lower module of the joint actuator, and their power was coupled by a planetary reducer. The speed differential of two motors determined the joint actuator's rotation states: speed, direction, and stop. 3D simulation shows that this new design could smoothly change motion with a 360-degree rotation range and fast dynamic response, successfully satisfying project expectations and demonstrating its usability. This new design could provide a third option in addition to mainstream configurations with improved kinetics and kinematics performance, particularly suitable as a modularized joint driving unit for various robotic applications.