Design of a low-cost modular actuator for humanoid robotics

¹ Department of Electrical & Electronic Engineering, University of Stellenbosch, South Africa
² Department of Electrical & Electronic Engineering, University of Stellenbosch, South Africa

^* William Duckitt wdduckitt@sun.ac.za
^* João de Freitas: 24085898@sun.ac.za

Abstract

A modular electromechanical actuator (EMA) is developed for humanoid robotic applications, targeting cost-effective and scalable joint actuation. The actuator employs multiple brushed DC motors coupled with a two-stage planetary gearbox to achieve sufficient torque for humanoid joints while maintaining low cost and manufacturability. The design prioritizes modularity to accommodate various robotic configurations, with considerations for material selection, additive manufacturing, and control implementation. Performance evaluations confirm effective load-bearing capacity and operational efficiency. Future iterations aim to integrate brushless motors and advanced cooling mechanisms to enhance robustness. This work contributes to the effort of creating accessible and high-performing actuators for humanoid robots.