Abstract
AbstractJoint actuators with a compact size and high power density are necessary for robots with rotating joints, making the hydraulic actuator (HyA) an ideal actuator candidate. This paper presents a joint HyA with the following characteristics: compact installation size of 70 mm × 92.5 mm × 145 mm, low weight of 1.93 kg, high output torque of 742.2 Nm/531.09 Nm in two directions under 210 bar, high torque to weight ratio of 265.5 Nm/kg, low internal leakage of about 9 mL/min, zero external leakage, low starting pressure of 0.26 MPa/0.39 MPa in two directions, and a large rotation angle of 135 degrees. Compared with HyAs that have been applied in robot joints, the HyA proposed in this paper can greatly reduce the joint weight, reduce the joint size, and ensure the control performance of the joint movement.In addition, a dynamic model of the HyA is established. Based on this, some dynamic design suggestions are given. Furthermore, a simple position and torque control algorithm for the HyA is proposed. Finally, some experiments are carried out to verify the performance of the HyA.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering,Control and Optimization,Mechanical Engineering,Modeling and Simulation
Reference24 articles.
1. [17] Kaminaga, H. , Otsuki, S. and Nakamura, Y. , “Development of High-Power and Backdrivable Linear Electro-Hydrostatic Actuator,” In: IEEE-RAS International Conference on Humanoid Robots (IEEE, 2014).
2. [1] S. H. Hyon, D. Suewaka, Y. Torii, N. Oku and H. Ishida, “Development of a Fast Torque-Controlled Hydraulic Humanoid Robot that Can Balance Compliantly[C],” In: IEEE-RAS International Conference on Humanoid Robots. IEEE (2015) pp. 576–581.
3. Strength optimization design of a helical hydraulic rotary actuator;Yang;Adv. Mat. Res.,2012
4. Modelling and optimization of rotary vane seals;Nikas;ARCHIVE Proc. Inst. Mech. Eng. J J. Eng. Tribol,1994–1996 (vols 208–210), 2007
5. Model-Based Hydraulic Impedance Control for Dynamic Robots
Cited by
1 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献