Title :
Development of Micro Hydraulic Actuator for force assistive wearable robot
Author :
Soojun Lee ; Jaewook Oh ; Yong-Kwun Lee ; Junho Choi
Author_Institution :
Center for Bionics, Korea Inst. of Sci. & Technol., Seoul, South Korea
Abstract :
This paper presents Micro Hydraulic Actuator (MHA). MHA has high power density and it is small enough to be installed inside of a small robot, such as humanoid robots. MHA consists of a cylindrical cam mechanism, pistons having ball joints, and combination of a valve plate and a cylinder block. The cylindrical cam has a Modified Sine (MS) curve and dwells at the trapping region of the cylinder ports on the cylinder block. The valve plate has slot ports in a circumferential direction on the inside and it induces high-precision contact with the cylinder block. In this study, MHA is designed and produced focusing on the mechanisms mentioned above and the applicability of the humanoid robots through the performance test is verified.
Keywords :
cams (mechanical); humanoid robots; hydraulic actuators; microactuators; pistons; valves; MHA; ball joints; circumferential direction; cylinder block; cylindrical cam mechanism; force assistive wearable robot; high-precision contact; humanoid robot; microhydraulic actuator; modified sine curve; pistons; power density; valve plate; Computer aided manufacturing; DC motors; Pistons; Potentiometers; Robots; Cam Mechanism; Fluid Power Generator; High Power Density; Micro Hydraulic Actuator (MHA);
Conference_Titel :
Robotics (ISR), 2013 44th International Symposium on
Conference_Location :
Seoul
DOI :
10.1109/ISR.2013.6695680
