Hello all. I am currently attempting to design a robotic system that will allow disabled children to crawl. At the moment I am trying to choose the appropriate actuators for my project. I have a max torque requirement from the system of around 60n/m. I need the motor to have a brake that doesn’t require electrical power and a way of measuring the angular position of my actuator. For the project the actuator doesn’t need to run continuously, the actuator only needs a range of around 0-180 degrees. So far, the best idea I have come up with is a high ratio planetary gearbox with a worm gear to prevent back drivability without power. A potentiometer is likely to be used to measure angular position. I was just wondering, as I am quite new to the world of robotics, what would be the next step in designing my gear system, or is there a solution I have not come across yet? Am I missing anything important I need to know. I have attached pictures to try and highlight my question. I am currently only concerning the top leg actuators.
Thanks in advance,
Peter Wright