Design and Experiments of Electro-Hydrostatic Actuator for Wheel-Legged Robot with Fast Force Control Response
The wheel-legged robot combines the functions of wheeled vehicles and legged robots: high speed and high passability. However, the limited performance of existing joint actuators has always been the bottleneck in the actual applications of large wheel-legged robots. This paper proposed a highly inte...
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MDPI AG
2023-06-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/11/7/685 |
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| author | Huipeng Zhao Junjie Zhou Sanxi Ma Shanxiao Du Hui Liu Lijin Han |
| author_facet | Huipeng Zhao Junjie Zhou Sanxi Ma Shanxiao Du Hui Liu Lijin Han |
| author_sort | Huipeng Zhao |
| collection | DOAJ |
| description | The wheel-legged robot combines the functions of wheeled vehicles and legged robots: high speed and high passability. However, the limited performance of existing joint actuators has always been the bottleneck in the actual applications of large wheel-legged robots. This paper proposed a highly integrated electro-hydrostatic actuator (EHA) to enable high-dynamic performance in giant wheel-legged robots (>200 kg). A prototype with a high force-to-weight ratio was developed by integrating a micropump, a miniature spring accumulator, and a micro-symmetrical cylinder. The prototype achieves a large output force of more than 9400 N and a high force-to-weight ratio of more than 2518 N/kg. Compared with existing EHA-based robots, it has a higher force-to-weight ratio and can bear larger loads. A detailed EHA model was presented, and controllers were designed based on sliding mode control and PID methods to control the output position and force of the piston. The model’s accuracy is improved by identifying uncertain parameters such as friction and leakage coefficient. Finally, both simulations and experiments were carried out. The results verified the fast response of force control (step response within 50 ms, the force tracking control frequency about 6.7 Hz) and the developed EHA’s good potential for future large wheel-legged robots. |
| first_indexed | 2024-03-11T00:54:08Z |
| format | Article |
| id | doaj.art-ba7cf1d3282847b796f89a3dc920fdce |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-11T00:54:08Z |
| publishDate | 2023-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-ba7cf1d3282847b796f89a3dc920fdce2023-11-18T20:12:03ZengMDPI AGMachines2075-17022023-06-0111768510.3390/machines11070685Design and Experiments of Electro-Hydrostatic Actuator for Wheel-Legged Robot with Fast Force Control ResponseHuipeng Zhao0Junjie Zhou1Sanxi Ma2Shanxiao Du3Hui Liu4Lijin Han5School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaThe wheel-legged robot combines the functions of wheeled vehicles and legged robots: high speed and high passability. However, the limited performance of existing joint actuators has always been the bottleneck in the actual applications of large wheel-legged robots. This paper proposed a highly integrated electro-hydrostatic actuator (EHA) to enable high-dynamic performance in giant wheel-legged robots (>200 kg). A prototype with a high force-to-weight ratio was developed by integrating a micropump, a miniature spring accumulator, and a micro-symmetrical cylinder. The prototype achieves a large output force of more than 9400 N and a high force-to-weight ratio of more than 2518 N/kg. Compared with existing EHA-based robots, it has a higher force-to-weight ratio and can bear larger loads. A detailed EHA model was presented, and controllers were designed based on sliding mode control and PID methods to control the output position and force of the piston. The model’s accuracy is improved by identifying uncertain parameters such as friction and leakage coefficient. Finally, both simulations and experiments were carried out. The results verified the fast response of force control (step response within 50 ms, the force tracking control frequency about 6.7 Hz) and the developed EHA’s good potential for future large wheel-legged robots.https://www.mdpi.com/2075-1702/11/7/685electro-hydrostatic actuatorwheel-legged robothigh-dynamic performanceforce control |
| spellingShingle | Huipeng Zhao Junjie Zhou Sanxi Ma Shanxiao Du Hui Liu Lijin Han Design and Experiments of Electro-Hydrostatic Actuator for Wheel-Legged Robot with Fast Force Control Response Machines electro-hydrostatic actuator wheel-legged robot high-dynamic performance force control |
| title | Design and Experiments of Electro-Hydrostatic Actuator for Wheel-Legged Robot with Fast Force Control Response |
| title_full | Design and Experiments of Electro-Hydrostatic Actuator for Wheel-Legged Robot with Fast Force Control Response |
| title_fullStr | Design and Experiments of Electro-Hydrostatic Actuator for Wheel-Legged Robot with Fast Force Control Response |
| title_full_unstemmed | Design and Experiments of Electro-Hydrostatic Actuator for Wheel-Legged Robot with Fast Force Control Response |
| title_short | Design and Experiments of Electro-Hydrostatic Actuator for Wheel-Legged Robot with Fast Force Control Response |
| title_sort | design and experiments of electro hydrostatic actuator for wheel legged robot with fast force control response |
| topic | electro-hydrostatic actuator wheel-legged robot high-dynamic performance force control |
| url | https://www.mdpi.com/2075-1702/11/7/685 |
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