Toward High Power-to-Weight Ratio Electro-hydrostatic Actuators for Robots
| Autor: | Yoshihiko Nakamura, Takahiro Nakanishi, Mitsuo Komagata, Ko Yamamoto |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
0303 health sciences
0209 industrial biotechnology Power-to-weight ratio 030306 microbiology business.industry Computer science 02 engineering and technology Modular design Revolute joint Power (physics) 03 medical and health sciences 020901 industrial engineering & automation Control theory Robustness (computer science) Robot Backdrive Actuator business |
| Zdroj: | Experimental Robotics ISBN: 9783030711504 ISER |
| DOI: | 10.1007/978-3-030-71151-1_11 |
| Popis: | Electro-hydrostatic actuators (EHAs) exhibit excellent backdrivability and therefore mechanical robustness. However, it has been difficult to design an EHA which satisfies the requirements on the same level of power-to-weight ratio as widely used actuators with gear reducers. To address this challenge, we developed a revolute EHA module realizing a high power-to-weight with a frameless motor and integrated modular design. Its output power was preliminary estimated by formulating its losses prior to the future experiment. In addition, its backdrive performance was experimentally evaluated to demonstrate the superiority of our EHA over gear reducers. The design method, achieving a high power-to-weight ratio and high backdrivability, offers the possibility of the EHA as an alternative to existing robotic actuators. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|