On the optimal selection of motors and transmissions for electromechanical and robotic systems

With regard to the important role of motors and transmissions in the performance of electromechanical and robotic systems, this paper intends to provide a solution for the problem of selection of these components for a general load case. Appropriate objectives are formulated, and by the use of them, a procedure is suggested to compare the performance of different motors for a specified task. Moreover, considering different limitations, the range for feasible transmission ratios is analytically obtained and suggestions for choosing a transmission ratio from this range, and if available, motor torque constant, are provided. As a case study, the methods are applied to the problem of actuator design for a legged robot.