Development of a humanoid robot with mega-torque actuators using magnetic harmonic gears

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In this study, a new magnetic gear was proposed to realize high torque and high efficiency using the concept of our magnetic harmonic gear. The high end magnetic gear was developed through the numerical approach to optimize the magnetic structure parameter of the proposed model. Moreover, a remarkable mega torque actuator was developed by combining a magnetic gear with an actuator. In addition, design tool for mega-torque actuator was developed for large scale parallel computing employing FEM. The computation accuracy of this tool was verified through the comparison with the measurement on a prototype.