next up previous contents
Next: System Identification of Up: Manipulators and Actuators Previous: High Strain Shape

Hydraulic Manipulator Shoulder Module

A prototype of a 3 DOF spherical joint module, the ``shoulder'' for a light-weight robotic arm has been built. (See Figure gif). 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.

V. Hayward

Hydraulic shoulder module



Thierry Baron
Mon Nov 13 10:43:02 EST 1995