Abstract:This paper proposes a concentrically stacked modular (CoSMo) actuator with rotary electric motors to implement multi-degree-of-freedom (multi-DOF) robotic systems with high power densities. The CoSMo actuator shows a novel design concept, which enables the actuator module with an integrated radiator to be combined in series and cooled by a single fan. This unique system has elevated thermal characteristics owing to the heatsink sharing effect. This enables the module to carry higher current by decreasing the t… Show more
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