流路をマニホールド化した電気静油圧駆動ユニットを持つロボットアーム

抄録

Electro-Hydrostatic Actuator (EHA) has high backdrivability and high control bandwidth, but it doesn’t have sufficient power as a hydraulic actuator. For the purpose to be compatible disturbance flexibility and high power, we developed a high power robot arm named“ Hydracer ”driven by EHA. For the robot arm, we developed a ceramics enhanced involute gear pump, linear EHA module composed of the pump and 3D printed cylinder and ceramics enhanced single vane motor to enhance power and pressure of it. The main 3 joints of the robot arm apply the oscillating slider crank mechanism driven by 2 cylinders. The wrist joint of the robot arm is driven by 3 ceramics single vane motors in series. The flow paths of the wrist joint are manifolded and the wrist joint became compact by arranging three pumps and one swivel joint.