WSEAS Transactions on Circuits and Systems

Print ISSN: 1109-2734
E-ISSN: 2224-266X

Volume 16, 2017

Notice: As of 2014 and for the forthcoming years, the publication frequency/periodicity of WSEAS Journals is adapted to the 'continuously updated' model. What this means is that instead of being separated into issues, new papers will be added on a continuous basis, allowing a more regular flow and shorter publication times. The papers will appear in reverse order, therefore the most recent one will be on top.

Volume 16, 2017

Mathematical Modeling of an Electro-Hydraulic Actuator for Humanoid Robots

AUTHORS: A. Abdellatif, Samer Alfayad, Fethi B. Ouezdou, Salem A. Haggag, Faycal Namoun

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ABSTRACT: The work presented in this paper is based on a novel integrated and compact hydraulic robotic actuator [1] (BIA patent- US20110085922), 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 small size, it can be placed as near as possible to the robot joints to minimize the possible drawbacks of hydraulic actuation units. The main problem for this prototype came from its compactness, causing the inability to study the dynamic properties of this hydraulic actuator such as leakage, friction and compressibility. Therefore, any enhancement or modification for its tiny mechanical components for performance improvement is not possible. As it lacks a mathematical model that represent the dynamics of the system at hand. Here comes the contribution of this paper, where a detailed mathematical model for the actuator is presented and simulated using MATLAB/Simulink. To validate this model, a sim-mechanics model based on its actual CAD design was presented and the two models were compared to verify the deduced dynamic model for the system. The results showed the accuracy of proposed mathematical model as a vital tool to represent the actuator and enhance it in future prototypes.

KEYWORDS: Hydraulic Actuation, Integration Technology, Humanoid robot, HYDROïD Robot, Dynamic model, System verification


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WSEAS Transactions on Circuits and Systems, ISSN / E-ISSN: 1109-2734 / 2224-266X, Volume 16, 2017, Art. #22, pp. 187-195

Copyright © 2017 Author(s) retain the copyright of this article. This article is published under the terms of the Creative Commons Attribution License 4.0

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