Conceptual Design and Analysis of a Novel Actuator
Abstract
Conventional robotic actuators which motive power for manipulators have been commonly limited to three basic types: electric, pneumatic and hydraulic. Each type has advantages and limitations which have dictated their respective suitability for specific applications. However, new manipulator functions may require such qualities as stiffness, high speed, low weight, low inertia, high power output, reversibility, and accurate positioning, which are not usually mutually compatible within an actuator type. With the increased use of robots in industry and the military, new robot-specific actuators will be developed to better meet functional requirements. One concept to be considered is a stiff pneumatic-hydraulic actuator for mobile anthropomorphic robot application. This paper explores the conceptual design feasibility of such an actuator system, and presents a first order system analysis of key parts.
Document Details
- Document Type
- Technical Report
- Publication Date
- Oct 01, 1988
- Accession Number
- ADA201010
Entities
People
- David L. Smith
- H. R. Everett
- J. D. Ingram
- J. Mcdonnel
Organizations
- Naval Postgraduate School