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Experimental study on critical design of electro-hydrostatic actuators small in size and light in weight

Journal of Robotics and Mechatronics, ISSN: 1883-8049, Vol: 32, Issue: 5, Page: 911-922
2020
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Article Description

Actuation systems for robots and other machines used in critical applications is an area that requires further research. In such applications, a machine works in a human environment and physically interacts with hu-mans. Reliability and backdrivability are still insuf-ficient in current systems. An electro-hydrostatic actuator has the potential advantage of high reliability by nature and high backdrivability in mechanical sim-plexity when it is designed to be small and light. This study provides a theoretical investigation of the methods for evaluating internal leaks and other mechanical losses, such as Coulomb and viscous friction, and ex-perimentally evaluates two types (trochoid and invo-lute gear) of prototyped hydraulic pumps.

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