Design of a Robotic Joint with Torque Limiter for the Integration into the EDAN System

Kurzfassung

This thesis presents the development and integration of a highly integrated, compact, modular, and robust robotic actuator. Robustness is provided by a torque limiter that can disconnect the drive train in case of overload due to collision. The ideal position and torque limiter type are determined by objective evaluation of different concepts. A design for a ball-detent torque limiter placed between the actuator’s torque sensor and output is developed and prototyped. Experiments show the effectiveness of the torque limiter in different configurations. The thesis concludes with the integration of the developed actuator into the EDAN system.