Title :
Making hydraulic manipulators cleaner and safer: From oil to demineralized water hydraulics
Author :
Dubus, Gregory ; David, Olivier ; Measson, Yvan ; Friconneau, Jean-Pierre ; Palmer, Jim
Author_Institution :
Interactive Robot. Unit, CEA, Fonteray-aux-Roses
Abstract :
This paper presents the developments carried out at CEA LIST to adapt the 6-DOF hydraulic manipulator Maestro to work with pure water instead of oil. Its elbow joint has been redesigned for water applications and a prototype of water hydraulic pressure servovalve has been manufactured. Both performances of the actuator and its pre-actuator are discussed. A model of the servovalve is proposed to identify its driving parameters and validate the next evolutions in its design, anticipating the second generation of prototypes.
Keywords :
hydraulic systems; manipulators; servomechanisms; 6-DOF hydraulic manipulator; CEA LIST; Maestro; demineralized water hydraulics; hydraulic manipulators; oil; pure water; water hydraulic pressure servovalve; Actuators; Force; Joints; Manipulators; Payloads; Petroleum; Torque;
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
DOI :
10.1109/IROS.2008.4650963
