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.
Preview
Unable to display preview. Download preview PDF.
References
H. Asada and T. Kanade, “Design of Direct-Drive Arms,” ASME Journal of Vibration, Stress, and Reliability in Design, Vol 105, No 3, 1983.
H. Asada and K. Youcef-Toumi, “Analysis and Design of a Direct-Drive Arm With a Five Bar Link Parallel Drive Mechanism,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol 106, No 3, pp 225–230, 1984.
J.F. Blackburn, G. Reethof, and J.J. Shearer, Fluid Power Control, Wiley, 1960.
J.Y.S. Luh, W.D. Fisher, and R.P. Paul, “Joint Torque Control by Direct Feedback for Industrial Robots,” Proc. IEEE Conference on Decision and Control, pp 265–271, San Diego, Ca, 1981
R.H. Maskrey and W.J. Thayer, “A Brief History of Electrohydraulic Servomechanisms,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol 100, No 2, pp 110–116, June 1978.
E.H. Merrit, Hydraulic Control Systems, Wiley, 1967.
Parker Hannifin Inc, Hydraulic and Pneumatic Rotary Actuators, Catalog 1800–1, Cylinder Division, Des Plaines IL, 1985.
Parker Hannifin Inc, Parker Bertea Aerospace, Electro Hydrostatic Actuator, Control Systems Division, Irvine CA, 1988.
R. Paul and B. Shimano, “Compliance and Control,” Proc. IEEE Joint Automatic Control Conference, pp 694–699, San Francisco, Ca, 1976
L. Pfeffer, O. Khatib, and J. Hake, “Joint Torque Sensory Feedback in the Control of a PUMA Manipulator,” Proc. IEEE International Conference on Robotics and Automation, pp 1966–1971, Raleigh, NC, 1987.
J.K. Salisbury and J.J. Craig, “Articulated Hands: Force Control and Kinematic Issues,” International Journal of Robotics Research, Vol 1, No 1, 1982.
C. H. Wu, “Compliance Control of a Robot Manipulator Based on Joint Torque Servo,” International Journal of Robotics Research, Vol 4, No 3, pp 55–71, 1985.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1990 Springer-Verlag
About this paper
Cite this paper
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
Download citation
DOI: https://doi.org/10.1007/BFb0042522
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-52182-2
Online ISBN: 978-3-540-46917-9
eBook Packages: Springer Book Archive