Development and Application of the Low-Cost 3D Printable Servo Module with the Worm Gear Reduction Mechanism Capable of Switching between Open and Driven States

In robotics research that uses actuators to re- place actual work in system integration, there is a growing demand for servo modules that we can use in various robots. We require the module to have the following three functions. 1) Supporting its weight without using energy, 2) the function to move the output link by external manipulation, and 3) being inexpensive and easy to duplicate and combine. In this study, we developed servo modules with openable worm gear reduction mechanisms ready for mass production to support a large load in the driven state and to move passively in the open state. As example configurations, we show 1: a winch for suspending a robot, 2: a non-backdrivable hand, 3: a teaching device, and 4: a carrying cart that can support its weight and carry heavy objects, demonstrating that the module can be easily used in a variety of configurations while fulfilling its intended functions.