マルチチャンネルEHAの提案

抄録

The hydraulic system of self-contained hydraulic robot at present has a big problem of energy loss. Although energy loss can be reduced by using EHA featuring high power and high power density, multiple pump motors are required for a system with multiple degrees of freedom. Therefore, there are problems such as increase in size, weight increase, and complication of wiring. Therefore, we propose a multichannel EHA that can drive multiple degrees of freedom for one pump motor. In this paper, we proposed a multichannel EHA that can drive multiple degrees of freedom for one pump motor, and conducted experiments with two hydraulic artificial muscles. As a result, it showed that basic operation in this system is possible.