DocumentCode :
2419483
Title :
Viscous pump for highly backdrivable Electro-Hydrostatic Actuator
Author :
Kaminaga, Hiroshi ; Tanaka, Hirokazu ; Yasuda, Kazuki ; Nakamura, Yoshihiko
Author_Institution :
Grad. Sch. of Inf. Sci. & Technol., Univ. of Tokyo, Tokyo, Japan
fYear :
2012
fDate :
14-18 May 2012
Firstpage :
3751
Lastpage :
3756
Abstract :
It is widely acknowledged that the actuator´s intrinsic backdrivability is important in realizing a force sensitive behavior. It is desirable to realize such actuator with electric motor that is advantageous from power-to-weight ratio and controllability point of view. Electro-Hydrostatic Actuator is a type of hydraulic actuators that can realize high backdrivability by reducing transmission friction and by providing dynamics decoupling with an implicit serial damper. To farther enhance the backdrivability of a EHA, a pump with minimum static and Coulomb friction is necessary. In this paper, we introduce an EHA with viscous screw pump that minimizes static and Coulomb friction by eliminating the mechanical contact between pump components. Viscous screw pumps also have the advantage that there is no pulsation in pressure due to the continuity of the force transmission from the rotor to the fluid. The property of the actuator, including pulsation performance and impedance control performance were evaluated on a prototype of EHA with a viscous screw pump.
Keywords :
controllability; damping; electric motors; electrohydraulic control equipment; force control; gears; hydraulic actuators; pumps; rotors; shock absorbers; stiction; vibration control; Coulomb friction; EHA; backdrivability; controllability; dynamics decoupling; electric motor; electrohydrostatic actuator; force transmission; hydraulic actuator; impedance control; implicit serial damper; power-to-weight ratio; pulsation performance; rotor; static friction; viscous screw pump; Actuators; Fasteners; Force; Friction; Impedance; Pumps; Torque;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
ISSN :
1050-4729
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ICRA.2012.6225265
Filename :
6225265
Link To Document :
بازگشت