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This paper presents a novel Differential Modular Robot Joint (DMRJ), which has high payload capability and low weight. The ratio between the output torque and the reducer's weight is 178.3 Nm/kg, which is the highest value we have known. The DMRJ is designed modularly for high payload tasks and can be attached to robots as arms or legs. Two high power DC brush motors are applied to drive the differential...
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