Development of lightweight hydraulic cylinder for humanoid robots applications

Elasswad, M; Tayba, Ahmad; Abdellatif, A.; Alfayad, Samer; Khalil, Khaled

doi:10.1177/0954406217731794

Cited by 16 publications

(14 citation statements)

References 23 publications

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“…But the starting pressure, running friction and other test data, remained undiscussed. ELASSWAD (Elasswad et al, 2018) proposed a CFRP hydraulic cylinder, using a robot knee joint for the piston rod. The cylinder was dynamically tested, but the design pressure was merely 1.5 MPa, whose efficiency needs to be further improved.…”

Section: Cfrp Applications On Hydraulic Structurementioning

confidence: 99%

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Prospects of carbon fiber composites applications in hydraulic supports

Guo

Zhou²,

et al. 2022

Front. Mater.

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This paper briefly analyzes the current development of lightweight design and applications for hydraulic support in the coal mines. Specifically, the comparative investigations of lightweight design demonstrate the potential application for carbon fiber reinforced composites (CFRP) in the production and manufacturing process of hydraulic support. After analyzing the major industrial applications of CFRP in the three main parts, hydraulic structure, cylinder and special frames, it demonstrated the feasibility of the potential CFRP exploitations in the future research of hydraulic support for coal mining sites.

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Section: Cfrp Applications On Hydraulic Structurementioning

confidence: 99%

“…This problem hinders the CFRP applications on the hydraulic cylinder. Zhang (Zhang et al, 2016) (Elasswad et al, 2018) adopted the CFRP reinforced metal lining. The knurled and sandblasted interface is exploited to prevent the bonding between CFRP and metal.…”

Section: Cfrp Applications On Hydraulic Structurementioning

confidence: 99%

Prospects of carbon fiber composites applications in hydraulic supports

Guo

Zhou²,

et al. 2022

Front. Mater.

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“…The robot is hydraulically actuated with 52 Dof. 12 It is designed according to a female subject whose biomechanical data is detailed in Table 2. The dataset of the subject pitch angle rotation was previously obtained in Abdellatif et al 42 and is given to the IEHA actuator model as an input.…”

Section: Gait Cycle Generation Using the New Ieha Modelmentioning

confidence: 99%

Performance enhancement of an integrated electro-hydraulic actuator using dynamic modeling and optimization

Amrollah¹,

Abdellatif

Alfayad

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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For robotic applications, hydraulic actuation is still an open research issue. A hydraulic actuation solution based on integrated hydraulics is presented in the form of an integrated electro-hydraulic Actuator (IEHA). This actuator tackles some issues related to compactness and self-contained autonomous robotic systems. One of its primary uses is the actuation of the hydraulic humanoid robot HYDROïD. Primary experimental validation of the IEHA actuator has suffered from several low-performance issues. The main reason for such performance is due to that inner friction forces and leakage losses were not addressed or modeled yet. In this paper, a detailed dynamic model of the IEHA actuator is needed to identify the mechanical components that affect the volumetric and mechanical efficiencies of the actuator. The dynamic model focuses on the dynamics of essential parameters and components like the micro-pump pistons, their internal leakage, and friction during actuation. The design parameters of these mechanical parts are optimally calculated to produce a new enhanced dynamic model. The new IEHA model is verified through simulation to actuate the ankle pitch rotation of the robot. A genetic algorithm is used to optimize the geometrical and design parameters while enhancing the overall mechanical and volumetric efficiencies of the IEHA. The IEHA model was able to generate a locomotion gait cycle successfully for a walking speed of 1.17 m/s. Simulation results have shown that the design enhancements led to 95% and 97% volumetric and mechanical efficiencies respectively. Finally, the new enhanced IEHA prototype is tested experimentally. The output flow of the new prototype has improved by approximately 58%.

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“…The outstanding dynamic response characteristics of hydraulic fourlegged robots have immediately attracted widespread attention in the field of electromechanical engineering applications. Boston Power Corporation (BPC) recently declared that it has begun researching and pre-developing lightweight G. Wang et al: A four-legged heavy-load robot with a force-position hybrid control servo system hydraulic four-legged robots, such as Wildcat, Big Dog, Spot and LS3 (Elasswad et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

Kinematics analysis of a four-legged heavy-duty robot with a force–position hybrid control servo actuator in a parallel-executed cylinder system

Wang

et al. 2021

Mech. Sci.

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Abstract. In this research, an electrohydraulic servo four-legged heavy-duty (FLHD) robot has been designed and developed. The study proposes an integration layout cylinder design scheme for a non-lightweight hydraulic servo four-legged robot with high loads and torques of hip joint and derives the mathematical element analysis model for a parallel-executed cylinder (PEC) system. The multiple inherent characteristics of the PEC integration system model are explored further. Based on the controllable functional requirements of interconnected joints, and to weaken the influence of internal force coupling, a force–position hybrid control scheme for the PEC is designed, and the force–position signal module design unit is used to solve the force–position hybrid control in reverse. Considering the inherent requirements of the servo-executed cylinder (SEC) force control unit module (CUM), the implementation process of magnetic flux compensation and speed compensation is discussed in detail. The minimum amplitude controller is applied to the SEC force CUM, and the proportional integrated controller has been determined in the SEC position CUM. A compound control strategy proposed in this paper is verified on a parallel hydraulic servo platform. The experimental verification results reveal that the values of position/force attenuation amplitude and lag phase are not greater than 9 % and 18∘, respectively. The feasibility of the interconnected implementation of the hybrid control scheme proposed in this paper is further increased. The conclusions of this research will be useful for application in fields of four-legged heavy-load (FLHL) robot control systems.

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Development of lightweight hydraulic cylinder for humanoid robots applications

Cited by 16 publications

References 23 publications

Prospects of carbon fiber composites applications in hydraulic supports

Prospects of carbon fiber composites applications in hydraulic supports

Performance enhancement of an integrated electro-hydraulic actuator using dynamic modeling and optimization

Kinematics analysis of a four-legged heavy-duty robot with a force–position hybrid control servo actuator in a parallel-executed cylinder system

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