This paper presents a novel method to compensate the eeects of exi-bility in belt-driven drive trains. Such drives are found in robot manipulators, for example, where drive exibility is undesirable. Unfortunately, the eeects of exibility can be diicult to compensate using the primary actuator, due to bandwidth limitations. By introducing a second actuator, which applies a force to the belt at a...

We report progress towards model based, dynamically stable legged locomotion with energy eecient, electrically actuated robots. We present the mechanical design of a prismatic robot leg which is optimized for electrical ac-tuation. A dynamical model of the robot and the actuator as well as the interaction with ground is derived and validated by demonstrating close correspondence between simulat...

The work presented in this paper is based on a novel integrated and compact hydraulic robotic actuator [1] (BIA patentUS20110085922), intended for the hydraulic humanoid robot HYDROïD. This actuator solves the problem of autonomy for hydraulic humanoid robots as it can be integrated to operate each joint separately. Thus, eliminating the need for a central hydraulic power pack. Also, due to its...

For a quadruped robot with 12 active joints driven by linear hydraulic actuators, some important parameters, such as the oil flow of the hydraulic system and the needed maximum output force of each actuator, are hard to calculate precisely with kinematics and dynamics equations. The oil flow is mainly determined by the walking speed of the quadruped robot, but also influenced by the stride freq...

An actuator selection procedure is presented which uses linear programming to optimally specify bounded aerosurface deflections and jet firings in response to differential torque and/or force commands. This method creates a highly adaptable interface to vehicle control logic by automatically providing intrinsic actuator decoupling, dynamic response to actuator reconfiguration, dynamic upper bou...

This paper describes the design of a novel actuator capable of protecting a full scale structure from severe load conditions. The design includes a cylinder filled with pressurized nitrogen and uses commercially available components. We demonstrate that the actuator behaves like a spring with an adjustable unstretched length, and that the effective spring stiffness can be changed easily by chan...

Design, modeling, manufacturing and experimental analysis of a six degree freedom robot, suitable for industrial applications, has been described in this paper. The robot was designed on the assumption that, each joint has an independent DC motor actuator, with gear reduction and measuring sensor for angular joint position. Mechanical design of the robot was done using Mechanical Desktop and ma...

The Thirty Meter Telescope has 492 primary mirror segments, each incorporated into a Primary Segment Assembly (PSA), each of which in turn has three actuators that control piston, tip, and tilt, for a total of 1476 actuators. Each actuator has a servo loop that controls small motions (nanometers) and large motions (millimeters). Candidate actuators were designed and tested that fall into the ca...

Real-time hybrid simulation combines experimental testing and numerical simulation by dividing a structural system into experimental and analytical substructures. Servohydraulic actuators are typically used in a real-time hybrid simulation to apply command displacements to the experimental substructure s . Servohydraulic actuators may develop a time delay due to inherent actuator dynamics that ...