Development of an Electro-Hydrostatic Actuator CADUCEUS and an Actuator-Equipped Rotary Mechanism

Abstract

An actuator for achieving the same force in both directions, and a mechanism for supporting rotary motion with the actuator are proposed. By fabricating models and performing tests, the action of the actuator mechanism, and its application on an excavator was demonstrated. Simulations on the arm-moving task performed on a conventional excavator and an excavator with the actuator mechanism show an efficiency improvement with the use of the proposed actuator mechanism, particularly when the arm is driven at low speed.