Abstract
The goal of this research is to develop a robot actuator capable of producing and controlling large output torques. Because of friction and backlash, it is difficult to control large output torques if they are obtained from an electric motor through a gear train. If no gearing is used, it is possible to accurately control torque output, but large torques are not possible unless heavy direct-drive motors and high-powered current amplifiers are used. In this paper, we describe a pressure-controlled hydrostatic transmission which can be used as an alternative to a gear train. It uses a fixed-displacement hydraulic pump and rotary actuator to eliminate problems due to backlash, and enables large output forces or torques of an actuator to be accurately measured and controlled. An analog control system is used to achieve a desired force output, and a digital compensator is used to obtain position control. Modeling, simulations, and experiments are presented to describe the system and its capabilities.
This research was supported by Parker-Hannifin, Parker-Bertea Aerospace Division.
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© 1990 Springer-Verlag
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Bobrow, J.E., Desai, J. (1990). Modeling and analysis of a high-torque, hydrostatic actuator for robotic applications. In: Hayward, V., Khatib, O. (eds) Experimental Robotics I. Lecture Notes in Control and Information Sciences, vol 139. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0042522
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DOI: https://doi.org/10.1007/BFb0042522
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