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Hydraulic Manipulator Shoulder Module

V. Hayward

Parallel mechanisms may provide for structural rigidity and good dynamic performance; however, their utility is generally limited by an inherently small workspace. The use of actuator redundancy can simultaneously increase the workspace and remove singularities. A novel method to perform multi-goal optimization has been devised to determine the set of optimal and realizable designs. Following this principle, a prototype of a 3 DOF spherical joint module, the ``shoulder'' for a light-weight robotic arm has been built. It is powered by four high-performance hydraulic actuators. The joint develops 200 Nm of torque around any direction with a supply pressure of 4 MPa and has a moving mass of less than 1 Kg. The torque control bandwidth exceeds 50Hz. Patent pending.

High Performance Hydraulic Manipulator Shoulder Module


This joint has been redesigned for optimal structural properties by Prof. L. Lessard and his co-workers (Department of Mechanical Engineering, McGill University). An elbow joint with two actuators is also being designed and constructed, taking advantage of advanced composite materials.

Annual Report

Fri Nov 26 23:00:32 GMT 1999