DocumentCode
2105272
Title
A water hydraulic robot
Author
Taylor, P.M. ; Kieffer, J. ; Oldaker, R. ; Wilkinson, A.J. ; Gilbert, J.M.
Author_Institution
Dept. of Electron. Eng., Hull Univ., UK
fYear
1993
fDate
15-17 Dec 1993
Firstpage
1911
Abstract
The design of a novel robot is outlined. The robot has three important design features: water driven hydraulics, harmonic drive gearboxes used as differentials and a planar five-bar parallelogram mechanism. The water motor/valve characteristics are described for a pre-prototype system and these are used in a simulation of step responses which are shown to exhibit limit cycling behaviour for small step demands. These simulations agree well with experimental behaviour and have been used to aid the design of improved motors
Keywords
hydraulic motors; limit cycles; robots; step response; valves; differentials; harmonic drive gearboxes; limit cycling behaviour; planar five-bar parallelogram mechanism; step responses; water driven hydraulics; water hydraulic robot; water motor/valve characteristics; Costs; Design engineering; Nonlinear systems; Parallel robots; Petroleum; Service robots; Shafts; Testing; Valves; Water;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location
San Antonio, TX
Print_ISBN
0-7803-1298-8
Type
conf
DOI
10.1109/CDC.1993.325526
Filename
325526
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