Experimental Study on Critical Design of Electro-Hydrostatic Actuators Small in Size and Light in Weight

Actuation systems for robots and other machines used in critical applications is an area that requires further research. In such applications, a machine works in a human environment and physically interacts with humans. Reliability and backdrivability are still insufficient in current systems. An el...

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Bibliographic Details
Published inJournal of robotics and mechatronics Vol. 32; no. 5; pp. 911 - 922
Main Authors Komagata, Mitsuo, Ko, Tianyi, Yamamoto, Ko, Nakamura, Yoshihiko
Format Journal Article
LanguageEnglish
Published Tokyo Fuji Technology Press Co. Ltd 20.10.2020
Subjects
Actuation
Actuators
Hydraulic equipment
Reliability
Weight reduction
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Summary:Actuation systems for robots and other machines used in critical applications is an area that requires further research. In such applications, a machine works in a human environment and physically interacts with humans. Reliability and backdrivability are still insufficient in current systems. An electro-hydrostatic actuator has the potential advantage of high reliability by nature and high backdrivability in mechanical simplexity when it is designed to be small and light. This study provides a theoretical investigation of the methods for evaluating internal leaks and other mechanical losses, such as Coulomb and viscous friction, and experimentally evaluates two types (trochoid and involute gear) of prototyped hydraulic pumps.
ISSN:0915-3942
1883-8049
DOI:10.20965/jrm.2020.p0911