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Hydraulic Manipulator Shoulder Module

Authors: [tex2html_wrap4280]V. Hayward

Investigator username: hayward

Category: robotics

Subcategory: manipulators and actuators

A prototype of a 3 DOF spherical joint module, the ``shoulder'' for a light-weight robotic arm has been built. (See Figure 18). It is powered by four high-performance hydraulic actuators developed by the Center for Engineering Design at the University of Utah and Animate Systems Incorporated. The actuators feature low static friction and an innovative integrated electromagnetic jet pipe valve design. The joint develops a 200 Nm 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.

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baron@cim.mcgill.ca