Abstract:Abstract-We report a new approach to the design of directdrive linear permanent magnet motors for use in general-purpose robotic actuation, with particular attention to applications in bird-scale flapping-wing robots. We show a simple, quantitative analytical modeling framework for this class of actuators, and demonstrate inherent scaling properties that allow the production of motors with force densities and efficiencies comparable to those of biological muscles. We will show how this model leads to a set of … Show more
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