Design of Backdrivable Mechanisms with Electro-Hydrostatic Actuators*
نویسندگان
چکیده
The importance of force sensitivity in robots that interact with unknown disturbance is acknowledged. For the manipulators, impedance controlled robots realized safe and robust object manipulation. For the legged mechanism, it is expected to enhance locomotion stability, since locomotion fundamentally is a manipulation of the center of mass. In order to maximize force sensitivity, both the force sensing capability and backdrivability must be enhanced. Series elastic actuators (SEAs) are most widely used force sensitive actuator, which are already used in humanoid robots. We have been proposing backdrivable electro-hydrostatic actuators (EHAs) that have complimentary property to SEAs. In this paper, we report our design strategy for designing backdrivable EHAs with force sensing capability.
منابع مشابه
Mechanism and Control of Knee Power Augmenting Device with Backdrivable Electro-Hydrostatic Actuator
Wearable robots that assist human mobility are actuated according to human intention. The estimation of the intention is difficult that the direct measurement is not possible. Especially the force control of the robot require quick response and highly non-repeatable. Biological signals such as electromyography are often used but they lack stability. Sensitivity function gain maximization is yet...
متن کاملClamped-Free Non Homogeneous Magneto Electro Elastic Plate of Polygonal Cross-Sections with Hydrostatic Stress and Gravity
In this article, the influence of hydrostatic stress and gravity on a clamped- free non homogeneous magneto electro elastic plate of polygonal cross sections is studied using linear theory of elasticity. The equations of motion based on two-dimensional theory of elasticity are applied under the plane strain assumption of prestressed and gravitated magneto electro elastic plate of polygonal cros...
متن کاملOptimization and Characterisation by Finite Element Method of an Electromechanical Actautor for More Electric Aircraft Applications
The future More Electric Aircraft (MEA) technology focus on increasing the use of electrical equipment to a larger extent, e.g. replacing conventional hydraulic and pneumatic actuators with electromechanical or electro hydrostatic actuators to reduce weight, cost and maintenance. Advances in enabling technologies of electric power generation, distribution, and utility equipment have made the us...
متن کاملMultiphysics modeling approach for micro electro-thermo-mechanical actuator: Failure mechanisms coupled analysis
The lifetime of micro electro–thermo–mechanical actuators with complex electro–thermo–mechanical coupling mechanisms can be decreased significantly due to unexpected failure events. Even more serious is the fact that various failures are tightly coupled due to micro-size and multi-physics effects. Interrelation between performance and potential failures should be established to predict reliabil...
متن کاملDevelopment of a New Backdrivable Actuator for Haptic Interfaces and Collaborative Robots
Industrial robots are most often position controlled and insensitive to external forces. In many robotic applications, however, such as teleoperation, haptics for virtual reality, and collaborative robotics, a close cooperation between humans and robots is required. For such applications, force sensing and control capabilities are required for stable interactions with the operator and environme...
متن کامل