This paper introduces a hydrostatic torque-transmission for robotic applications based on rolling diaphragm cylinders. The proposed design solution, that relies on a novel floating-cylinder architecture, can be effectively employed for the implementation of robots with actuators that are remotely located with respect to their kinematic structure, without sacrificing performance and controllability. A prototype of proposed system is designed and implemented to comply with requirements for the actuation of a robotic arm exoskeleton. Such a system brings together a set of interesting attributes such as an extremely low level of friction (< 0.8 % of rated torque), transparent torque transmission (with average errors in open-loop sinusoidal torque-tracking in the range of 0.2–0.4 Nm), high torque (in the range of 30Nm), large force bandwidth (20–30 Hz), large range of motion (> 140 ∘), simple design, ease in assembling, low-cost, reduced encumbrance (compatible with the integration with robotic links) and lightweight. Additionally, we demonstrate that the presented system allows to integrate a very accurate pressure-based output torque estimation which can be employed to further improve the system performance without the use of strain-based load-cells.
Design and experimental characterization of a high performance hydrostatic transmission for robot actuation / Bolignari, M.; Fontana, M.. - In: MECCANICA. - ISSN 0025-6455. - 55:5(2020), pp. 1169-1179.
Scheda prodotto non validato
I dati visualizzati non sono stati ancora sottoposti a validazione formale da parte dello Staff di IRIS, ma sono stati ugualmente trasmessi al Sito Docente Cineca (Loginmiur).
|Titolo:||Design and experimental characterization of a high performance hydrostatic transmission for robot actuation|
|Autori:||Bolignari, M.; Fontana, M.|
|Titolo del periodico:||MECCANICA|
|Anno di pubblicazione:||2020|
|Numero e parte del fascicolo:||5|
|Codice identificativo Scopus:||2-s2.0-85082754788|
|Codice identificativo WOS:||WOS:000520627600003|
|Digital Object Identifier (DOI):||http://dx.doi.org/10.1007/s11012-020-01143-z|
|Citazione:||Design and experimental characterization of a high performance hydrostatic transmission for robot actuation / Bolignari, M.; Fontana, M.. - In: MECCANICA. - ISSN 0025-6455. - 55:5(2020), pp. 1169-1179.|
|Appare nelle tipologie:||03.1 Articolo su rivista (Journal article)|