Development of high-power and backdrivable linear electro-hydrostatic actuator
Development of high-power and backdrivable linear electro-hydrostatic actuator
复制标题
大功率可反向驱动线性电动静压执行器的开发
DOI：
10.1109/humanoids.2014.7041481
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
Yoshihiko Nakamura
中科院分区：
文献类型：
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作者：
H. Kaminaga;S. Otsuki;Yoshihiko Nakamura
具有高功率输出和耐用性的驱动器是开发高机动性仿人机器人的重要因素。这种力敏感执行器的开发是一个挑战。为了实现高功率输出、高耐用性和可回转驱动，我们开发了线性电液作动器。本文介绍了一种减摩的直线型EHA的机械设计。采用低摩擦活塞密封，在保持后驱性损失最小的同时，显著提高了充气效率。为了测试该装置，提出了一种带有反作用质量的测试装置。该装置可在动态运动时对执行器施加外力，重复性高。评估了后驱动能力、最大气缸力和频率响应，以显示所提出的执行器的有效性。
Actuator with high power output and durability is a important factor in developing humanoid robots with high mobility. Development of such actuator with force sensitivity is a challenge. We developed linear electro-hydrostatic actuator (EHA) to realize high-power output, high durability, and backdrivability. This paper presents mechanical design of a linear EHA that reduces friction. Low friction piston seal was employed to significantly improve volumetric efficiency while keeping loss of backdrivability minimum. To test this device, a testing device with reaction mass is proposed. This device can be used to give external force to actuator under dynamic movement with high repeatability. Backdrivability, maximum cylinder force, and frequency response were evaluated to show the efficacy of the proposed actuator.