Title :
A water hydraulic robot
Author :
Taylor, P.M. ; Kieffer, J. ; Oldaker, R. ; Wilkinson, A.J. ; Gilbert, J.M.
Author_Institution :
Dept. of Electron. Eng., Hull Univ., UK
Abstract :
The design of a novel robot is outlined. The robot has three important design features: water driven hydraulics, harmonic drive gearboxes used as differentials and a planar five-bar parallelogram mechanism. The water motor/valve characteristics are described for a pre-prototype system and these are used in a simulation of step responses which are shown to exhibit limit cycling behaviour for small step demands. These simulations agree well with experimental behaviour and have been used to aid the design of improved motors
Keywords :
hydraulic motors; limit cycles; robots; step response; valves; differentials; harmonic drive gearboxes; limit cycling behaviour; planar five-bar parallelogram mechanism; step responses; water driven hydraulics; water hydraulic robot; water motor/valve characteristics; Costs; Design engineering; Nonlinear systems; Parallel robots; Petroleum; Service robots; Shafts; Testing; Valves; Water;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325526
