Design and Analysis of Service Robot Motor with High Torque and High Back Drivability Focusing on the Torque/Inertia Ratio

Service robots that perform tasks involving physical contact require both high torque and high back drivability. However, torque and back drivability are inversely related, making it challenging to find a motor that excels in both areas. Thus, this study outlines a design approach that can successfully achieve high torque and back drivability, along with an analysis and experimental of the results.