NDLI: Viscous pump for highly backdrivable Electro-Hydrostatic Actuator

Content Provider	IEEE Xplore Digital Library
Author	Kaminaga, H. Tanaka, H. Yasuda, K. Nakamura, Y.
Copyright Year	2012
Description	Author affiliation: Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, 113-8656, Japan (Kaminaga, H.; Tanaka, H.; Yasuda, K.; Nakamura, Y.)
Abstract	It is widely acknowledged that the actuator's intrinsic backdrivability is important in realizing a force sensitive behavior. It is desirable to realize such actuator with electric motor that is advantageous from power-to-weight ratio and controllability point of view. Electro-Hydrostatic Actuator is a type of hydraulic actuators that can realize high backdrivability by reducing transmission friction and by providing dynamics decoupling with an implicit serial damper. To farther enhance the backdrivability of a EHA, a pump with minimum static and Coulomb friction is necessary. In this paper, we introduce an EHA with viscous screw pump that minimizes static and Coulomb friction by eliminating the mechanical contact between pump components. Viscous screw pumps also have the advantage that there is no pulsation in pressure due to the continuity of the force transmission from the rotor to the fluid. The property of the actuator, including pulsation performance and impedance control performance were evaluated on a prototype of EHA with a viscous screw pump.
Starting Page	3751
Ending Page	3756
File Size	1975051
Page Count	6
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6225265
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fasteners Actuators Friction Torque Impedance Pumps Force
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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