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A smart hydraulic joint for future implementation in robotic structures

Published online by Cambridge University Press:  18 January 2010

J. Berring ,
K. Kianfar ,
C. Lira ,
C. Menon  and
F. Scarpa
J. Berring
Affiliation:
MENRVA Group, School of Engineering Science, Simon Fraser University, 8888 University Dr., Burnaby, BC, V5A 1S6, Canada
K. Kianfar
Affiliation:
MENRVA Group, School of Engineering Science, Simon Fraser University, 8888 University Dr., Burnaby, BC, V5A 1S6, Canada
C. Lira
Affiliation:
Department of Aerospace Engineering, University of Bristol, UK
C. Menon*
Affiliation:
MENRVA Group, School of Engineering Science, Simon Fraser University, 8888 University Dr., Burnaby, BC, V5A 1S6, Canada
F. Scarpa
Affiliation:
Department of Aerospace Engineering, University of Bristol, UK
*
*Corresponding author. E-mail: cmenon@sfu.ca
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Summary

A hydraulic flexible joint inspired by the actuation system of spiders is investigated in this paper. Its design and characteristics are discussed and a mathematical model is developed to describe its static behaviour. Results of experimental tests are presented to validate its performance. A comparison to other hydraulic actuation systems is performed. The use of the proposed hydraulic flexible joint in adaptive robotic structures is addressed and discussed.

Keywords

Hydraulic systemSmart actuatorFlexible structure

Information

Type
Article
Information
Robotica , Volume 28 , Issue 7 , December 2010 , pp. 1045 - 1056
Copyright
Copyright © Cambridge University Press 2010

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