Redundant actuators enable to distribute power among two motors, which can be selected optimally in terms of efficiency. We propose a methodology that finds effective combinations of motors and gearboxes for a dynamic load, taking into account the constraints, inertia, and efficiency of each component. Focusing on battery-operated robots as an application, it also considers battery pack mass in relation to the energy required by the actuator for multiple hours of operation. Based on this methodology, a prototype of a kinematically redundant actuator for the distal joint of a robot was built. Simulations and experiments are presented to prove the validity of the proposed approach.

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