Backdrivability analysis of Electro-Hydrostatic Actuator and series dissipative actuation model

Kaminaga, Hiroshi; Amari, Tomoya; Katayama, Yukihiro; Ono, J.; Shimoyama, Yuto; Nakamura, Yoshihiko

doi:10.1109/robot.2010.5509789

Cited by 36 publications

(12 citation statements)

References 12 publications

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“…They are one of the largest causes of degrading volumetric efficiency of pumps and hydraulic motors. However, in EHAs, internal leakages decouple dynamics of pumps and hydraulic motors, which enhance backdrivability of the actuators [13].…”

Section: Linear Electro-hydrostatic Actuatormentioning

confidence: 99%

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Development of high-power and backdrivable linear electro-hydrostatic actuator

Kaminaga

Otsuki

Nakamura

2014

2014 IEEE-RAS International Conference on Humanoid Robots

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Actuator with high power output and durability is a important factor in developing humanoid robots with high mobility. Development of such actuator with force sensitivity is a challenge. We developed linear electro-hydrostatic actuator (EHA) to realize high-power output, high durability, and backdrivability. This paper presents mechanical design of a linear EHA that reduces friction. Low friction piston seal was employed to significantly improve volumetric efficiency while keeping loss of backdrivability minimum. To test this device, a testing device with reaction mass is proposed. This device can be used to give external force to actuator under dynamic movement with high repeatability. Backdrivability, maximum cylinder force, and frequency response were evaluated to show the efficacy of the proposed actuator.

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Section: Linear Electro-hydrostatic Actuatormentioning

confidence: 99%

“…Internal leakage enhances the backdrivability [13], but at the same time, it reduces efficiency and power output.…”

Section: Introductionmentioning

confidence: 99%

Development of high-power and backdrivable linear electro-hydrostatic actuator

Kaminaga

Otsuki

Nakamura

2014

2014 IEEE-RAS International Conference on Humanoid Robots

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“…Electro-hydrostatic actuators (EHAs), which are hydraulic actuators comprising closed-loop circuits with displacement volume-controlled systems, have been developed (6) (7) . In addition, several studies on the dynamics of EHAs and methods to identify parameters have aimed to improve control and cost performances (8)- (11) .…”

Section: Introductionmentioning

confidence: 99%

Resonance-suppression Control for Electro-hydrostatic Actuator as Two-inertia System

et al. 2017

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Electro-hydrostatic actuators (EHAs) are hydraulic actuators with high power-to-weight ratios that exhibit low energy loss. Thus far, methods for determining the characteristics and parameters of EHAs have not been fully established. Therefore, modeling methods for EHA are in demand. EHAs are driven by servomotors on the motor-side and hydraulic motors on the load-side, and therefore, the actuators are expected to experience sympathetic vibrations. Thus, EHAs can be considered as systems in which two rigid objects are connected to one another with a low-rigidity shaft such as a spring. The occurrence of resonance in EHAs has not yet been discussed because of difficulties with hydraulic systems. One major problem is the large friction in hydraulic motors. We apply a feedback modulator for friction compensation to enable the experimental identification of characteristics. Assuming that EHAs experience two-inertia resonance, the parameters of the motors can be calculated. In addition, vibration-suppression techniques for two-inertia systems can be applied to EHAs. This study proposes the application of a two-inertia model to suppress vibrations in EHAs and verify their dynamic characteristics.

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“…Recently, [15]- [17] were introduced to apply the EHA to robot systems and tried to realize highly back-drivable robot systems which mean low impedance robot systems. They developed various applications using the EHA, and showed that the EHA indeed has the potential of being an actuator in robotic applications.…”

Section: Introductionmentioning

confidence: 99%

An approach to development of electro hydrostatic actuator (EHA)-based robot joints

Lee

Kim

Chung

2015

2015 IEEE International Conference on Industrial Technology (ICIT)

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In this paper, we propose a couple of configurations for development of an electro hydrostatic actuator (EHA). The study shows that both configurations result in the same dynamic model, and that the resulting dynamic model is equivalent to the dynamic model of flexible joint robots (FJR). Consequently, in controlling the EHA-based robots, we can apply a control strategy that is developed for flexible joint robots (FJR). In particular, we applied a position-based PD control with inertia reshaping technique, which is one of the most widely used control method for compliant interaction with environments. The proposed scheme was verified through experiments using a 1 degree-of-freedom testbed for both configurations of EHA.

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Backdrivability analysis of Electro-Hydrostatic Actuator and series dissipative actuation model

Cited by 36 publications

References 12 publications

Development of high-power and backdrivable linear electro-hydrostatic actuator

Development of high-power and backdrivable linear electro-hydrostatic actuator

Resonance-suppression Control for Electro-hydrostatic Actuator as Two-inertia System

An approach to development of electro hydrostatic actuator (EHA)-based robot joints

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