I am working on developing a new robot arm. It will be roughly .5 meters long, and im shooting for a max payload of ~2kg. 7 DoFs total (Spherical shoulder, elbow, spherical wrist), plus 1 DoF for the end effector itself.
I know that backlash can be a signficant problem in robot arms. I have a pretty healthy budget for this project. My question is, what sort of actuators are generally used in systems like this?
BLDC + Gearhead + Harmonic drive?
Large Stepers, no gearing, resolver to close the loop?
BLDC + Planetary + preload springs?
Anything I am missing in the above options?
What do large industrial robots use?