Abstract

Hydraulic servos are characterised by their highperformance nature but due to their size and weight are not suitable for robotics where new legged applications require high power density and excellent dynamic behaviour in a small size. As an answer to this need a new class of integrated smart actuators is being developed. These systems consist of a servo valve, hydraulic cylinder, sensors and a controller all in a single device. This paper outlines the detailed modelling of the smart actuator for use in simulation and control design. The result is a model consisting of the dynamics of the novel ultra-low leakage servovalve, the valve flow characteristics considering the properties of each spool land, the single-ended cylinder with friction and the pressure losses in the supply and return lines to the actuator. The models are a combination of empirical and theoretical development, validated with experimental data. The smart actuator's unique properties; compactness, weight and efficiency, combined with high-performance hydraulics make it well suited to mobile robot applications.

Original languageEnglish
Title of host publicationBATH/ASME 2020 Symposium on Fluid Power and Motion Control, FPMC 2020
PublisherAmerican Society of Mechanical Engineers (ASME)
Number of pages10
ISBN (Electronic)9780791883754
DOIs
Publication statusE-pub ahead of print - 21 Oct 2020
EventBATH/ASME 2020 Symposium on Fluid Power and Motion Control, FPMC 2020 - Virtual, Online
Duration: 9 Sep 202011 Sep 2020

Publication series

NameBATH/ASME 2020 Symposium on Fluid Power and Motion Control, FPMC 2020

Conference

ConferenceBATH/ASME 2020 Symposium on Fluid Power and Motion Control, FPMC 2020
CityVirtual, Online
Period9/09/2011/09/20

Keywords

  • Electrohydraulic servo
  • Integrated actuator
  • Mobile robotics
  • Modelling
  • Servovalve

ASJC Scopus subject areas

  • Fluid Flow and Transfer Processes
  • Control and Systems Engineering

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