Design of Compact Experimental Servodrive Model with Adjustable Torsion, Friction and Backlash Effects

In this paper we shall briefly describe the mechanical section of an electrical servodrive laboratory model developed to test algorithms of torsion, friction and backlash compensation in a speed, position and force controlled drives. Compact design of housing, torque measuring set, sliding and rolling bearing is main advantage of presented construction. Some experimental results are presenteed, too.