High performance integrated electro-hydraulic actuator for robotics – Part I: Principle, prototype design and first experiments

Review of Development Stages in the Conceptual Design of an Electro-Hydrostatic Actuator for Robotics

“…For use in EHA system, Habibi proposes a gear pump which, compared to piston pumps, provides a more even flow at the discharge duct. Figure 3 Scheme of EHA system [21] Contribution to the development of EHA concept design for robots, has been made by Alfayad et al [24][25][26]. His proposal is an answer to the already mentioned basic drawbacks of electromechanical, and also hydraulic drives.…”

“…This, in turn, increases the chances of hydraulic losses due to oil leaks or oil flow through the pipe line/hose line and the connectors. These unwanted effects are further exacerbated when using hydraulic hoses which run through the joints to connect actuators with the aggregate [25]. However, their use is required if the actuator is at some distance from power unit, and fixed to the element which performs movement during robot operation.…”

“…However, their use is required if the actuator is at some distance from power unit, and fixed to the element which performs movement during robot operation. The discussed flaws have prompted the research and development of the novel Integrated Electro-Hydraulic Actuator (IEHA) [25,26]. The idea behind IEHA concept is based on two fundamental requirements.…”

“…[25] Experimental test of IEHA includes the lifting of 25 and 38 kg weights at 20 mm/s, where the cylinder piston is 20 mm in diameter and length of the piston rod is 120 mm. The same speed was obtained with both tests [25]. These results show potential capabilities of IEHA in terms of power-to-mass, and power-to-volume ratio.…”

Analysis and Design of Transmission and Drive System in Mini Surface Weapon Platform

“…High performances in actuation are needed to enhance behaviors of these systems, whereas more and more requirements are needed for best performance [6].…”