EccD is an elastic EPICycloid reducer with equipped with a stepper motor controlled in closed loop with:
- Current, torque and redundant position feedback
- Control loops for position, velocity, force and deformation
- Very compact and light weight
Included in the DaGma robotic platform, EPIC Drive can enable features like:
- Collaborative technology
- Haptic feedback systems
- Predictive mass and weight calculation
- Non Cartesian weight balancer
| Model | ED-3-22:1 | |
|---|---|---|
| Max output torque | 3 | Nm (??) |
| Transmission ratio (i) | Approx-22:1 (-4420:203) | |
| Max load | 166 (Not really sure!) | kgcm^2 (lb ft^2) |
| Max axial load | 200 | N (lb) |
| Max radial load | 200 | N (lb) |
| Max velocity | 7 | rpm |
| Backlash | 0 | º |
| Resolution | 76206 | pulse per rev |
| Torsional elasticity (uncompensated) | 1 to 3 (Still have to decide what it will be!) | º/Nm (º/lbft) |