Design optimization of hybrid actuation combining macro-mini actuators

Nam Ho Kim, Jong Min Kim, Oussama Khatib, Dongjun Shin

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


A significant challenge in the development of human-safe robots is how to optimize performance while maintaining high safety standards. One promising solution is a hybrid actuation concept which combines low-frequency and high-frequency actuators. However, actuator sizing of the hybrid actuation is a difficult proposition, since motor torque capacity significantly affects robot control performance and safety. Deriving an analytical model of the hybrid actuation, we propose a design methodology to determine an optimal actuator size, which provides a combination of high control bandwidth and low impedance. Our simulation and experimental results validated the proposed methodology showing that the obtained actuator parameters from the methodology improved control bandwidth while keeping effective inertia minimum.

Original languageEnglish
Pages (from-to)519-527
Number of pages9
JournalInternational Journal of Precision Engineering and Manufacturing
Issue number4
Publication statusPublished - 2017 Apr 1

Bibliographical note

Publisher Copyright:
© 2017, Korean Society for Precision Engineering and Springer-Verlag Berlin Heidelberg.

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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