Browse > Article
http://dx.doi.org/10.7736/KSPE.2016.33.9.723

Design and Implementation of the Cable Rod Hydraulic Actuator for Robotic Revolute Joints  

Kim, Jungyeong (Department of Robotics and Virtual Engineering, University of Science and Technology)
Park, Sangdeok (Department of Robotics and Virtual Engineering, University of Science and Technology)
Cho, Jungsan (Robotics R&D Group, Korea Institute of Industrial Technology)
Publication Information
Journal of the Korean Society for Precision Engineering / v.33, no.9, 2016 , pp. 723-730 More about this Journal
Abstract
This paper presents a cable-driven hydraulic actuator named Cable Rod Hydraulic Actuator (CRHA). The cable actuating system is attractive for designing a compact joint in robotic applications since it can be installed remotely from the joint. Recently, cable rods have been used in pneumatic area for inertia reduction. However, designing cable rods in hydraulics is challenging because it is difficult to achieve flexibility and endurance simultaneously under high pressure conditions. In this paper, the cable rod, which consists of a cable and jacket, is proposed to meet both requirements. To design the CRHA, we determined the design parameters, such as cylinder size, and selected the cable rod's material by friction and leakage test. Finally, comparisons experiments about step and frequency responses with conventional hydraulic actuators were performed to assess feasibility for robotic joints, and the results show that the proposed system has good bandwidth and fast response as robotic joints.
Keywords
Cable-Driven hydraulic system; Robotic revolute joint; Cable rod;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Maxon Motor, "Automation and Robotics," http://www.maxonmotor.co.kr/ (Accessed 31 March 2016)
2 Cho, J. S., Park, S. D., and Kim, K. I., "Design of Mechanical Stiffness Switch for Hydraulic Quadruped Robot Legs Inspired by Equine Distal Forelimb," Electronics Letters, Vol. 51, No. 1, pp. 33-35, 2015.   DOI
3 Hosoda, K., Takuma, T., Nakamoto, A., and Hayashi, S., "Biped Robot Design Powered by Antagonistic Pneumatic Actuator for Multi-Modal Locomotion," Robotics and Autonomous Systems, Vol. 56, No. 1, pp. 46-53, 2008.   DOI
4 Merritt, H. E., "Hydraulic Control Systems," John Wiley & Sons, pp. 1-2, 1967.
5 Zoss, A. B., Kazerooni, H., and Chu, A., "Biomechanical Design of the Berkeley Lower Extremity Exoskeleton (BLEEX)," IEEE/ASME Transactions on Mechatronics, Vol. 11, No. 2, 128-138, 2006.   DOI
6 Kim, J. T., Lee, J. W., Kim, H. G., Seo, J. H., Chon, S. U., et al., "Method for Improving the Position Precision of a Hydraulic Robot Arm: Dual Virtual Spring-Damper Controller," Intelligent Service Robotics, Vol. 9, No. 2, pp. 93-99, 2015.
7 Raibert, M., Blankespoor, K., Nelson, G., Playter, R., and Team, T., "BigDog, the Rough-Terrain Quadruped Robot," Proc. of the 17th World Congress, pp. 10822-10825, 2008.
8 Khan, H., Kitano, S., Frigerio, M., Camurri, M., Barasuol, V., et al., "Development of the Lightweight Hydraulic Quadruped Robot-MiniHyQ," Proc. of the 2015 IEEE International Conference on Technologies for Practical Robot Applications, pp. 1-6, 2015.
9 Seo, J. H., Cho, J. S., Park, B. Y., Kim, J. T., and Park, S. D., "Leg Mechanism Design for SLIP Model of Hydraulic Quadruped Robot," Proc. of the 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, pp. 461-466, 2014.
10 Parker, "Products," http://www.parker.com/ (Accessed 15 September 2015)
11 Helac, "Products and Service," http://www.helac.com/ (Accessed 15 September 2015)
12 Merzouki, R. and Cadiou, J. C., "Estimation of Backlash Phenomenon in the Electromechanical Actuator," Control Engineering Practice, Vol. 13. No. 8, pp. 973-983, 2005.   DOI
13 Alfayad, S., Ouezdou, F. B., and Namoun, F., "New 3-DOFs Hybrid Mechanism for Ankle and Wrist of Humanoid Robot: Modeling, Simulation, and Experiments," Journal of Mechanical Design, Vol. 133, No. 2, Paper No. 021005, 2011.   DOI
14 Zhu, W. H. and Piedboeuf, J. C., "Adaptive Output Force Tracking Control of Hydraulic Cylinders with Applications to Robot Manipulators," Journal of Dynamic Systems, Measurement and Control, Vol. 127, No. 2, pp. 206-217, 2005.   DOI
15 Tolomatic, "'Pneumatic Actuator," http://www.tolomatic.com/ (Accessed 12 February 2016)
16 W. C. Branham, "Products," http://www.wcbranham.com/ (Accessed 12 February 2016)
17 Barrett Technology, "Products," http://www.barrett.com/ (Accessed 10 September 2015)
18 Agrawal, V., Peine, W. J., and Yao, B., "Modeling of Transmission Characteristic across a Cable-Conduit System," IEEE Transactions on Robotics, Vol. 26, No. 5, pp. 914-924, 2010.   DOI
19 Palli, G., Borghesan, G., and Melchiorri, C., "Modeling, Identification, and Control of Tendon-Based Actuation Systems," IEEE Transactions on Robotics, Vol. 28, No. 2, pp. 277-290, 2012.   DOI
20 Kim, J. H., Cho, J. S., Chon, S. U., and Park, S. D., "The Experiment of Material for Flexible Load End for Hydraulic Actuator," Proc. of KSPE Autumn Conference, p. 428, 2014.
21 Park, B. Y., Park, S. D., Cho, J. S., Kim, J. T., Chon, S. U., et al., "Design and Implementation of Hydraulic Drive Cable Actuator," Proc. of KSPE Spring Conference, pp.775-776, 2015
22 Semini, C., "HyQ - Design and Development of a Hydraulically Actuated Quadruped Robot," Ph.D. Thesis, Department of Advanced Robotics, University of Genoa, 2010.
23 Na, B. H., Choi, H. J., and Kong, K. C., "Design of a Direct-Driven Linear Actuator for a High-Speed Quadruped Robot, Cheetaroid-I," IEEE Transactions on Mechatronics, Vol. 20, No. 2, pp. 924-933, 2015.   DOI
24 Kong, K. C., Bae, J. B., and Tomizuka, M., "Torque Mode Control of a Cable-Driven Actuating System by Sensor Fusion," Journal of Dynamic Systems, Measurement and Control, Vol. 135, No. 3, Paper No. 031003, 2013.   DOI
25 Lee, S. R., "Hydraulically Actuated Joint Control for Maintaining Posture of a Walking Robot on Uneven Terrain," M.Sc. Thesis, Intelligent Robot Engineering, University of Science and Technology, 2011.
26 Kutz, M., "Standard Handbook of Biomechanical Engineering and Design," McGraw-Hill, Chap. 32, 2003.