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Design and experimental characterization of a high performance hydrostatic transmission for robot actuation

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Abstract

This paper introduces a hydrostatic torque-transmission for robotic applications based on rolling diaphragm cylinders. The proposed design solution, that relies on a novel floating-cylinder architecture, can be effectively employed for the implementation of robots with actuators that are remotely located with respect to their kinematic structure, without sacrificing performance and controllability. A prototype of proposed system is designed and implemented to comply with requirements for the actuation of a robotic arm exoskeleton. Such a system brings together a set of interesting attributes such as an extremely low level of friction (\(<0.8\%\) of rated torque), transparent torque transmission (with average errors in open-loop sinusoidal torque-tracking in the range of 0.2–0.4 Nm), high torque (in the range of \(30\hbox { Nm}\)), large force bandwidth (20–30 Hz), large range of motion (\(>140^\circ\)), simple design, ease in assembling, low-cost, reduced encumbrance (compatible with the integration with robotic links) and lightweight. Additionally, we demonstrate that the presented system allows to integrate a very accurate pressure-based output torque estimation which can be employed to further improve the system performance without the use of strain-based load-cells.

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Funding

The research leading to these results has received funding from the Italian Ministry of Education, University and Research (MIUR) under the Program Department of Excellence, awarded by the Department of Industrial Engineering of the University of Trento.

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  1. Department of Industrial Engineering, University of Trento, 38123, Trento, Italy

    Marco Bolignari & Marco Fontana

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  1. Marco Bolignari
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  2. Marco Fontana
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Correspondence to Marco Fontana.

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Bolignari, M., Fontana, M. Design and experimental characterization of a high performance hydrostatic transmission for robot actuation. Meccanica 55, 1169–1179 (2020). https://doi.org/10.1007/s11012-020-01143-z

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