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Development of Backdrivable Servovalve With Feedback Spring for Enhanced Electro-Hydraulic Torque Actuator SCIE SCOPUS

Title
Development of Backdrivable Servovalve With Feedback Spring for Enhanced Electro-Hydraulic Torque Actuator
Authors
NAM, SEOK HOLEE, WOONG YONGYOO, SUN KYUMKIM, KEEHOONCHUNG, WAN KYUN
Date Issued
2020-04
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Abstract
This letter proposes a novel backdrivable servovalve to implement a torque-controlled electro-hydraulic actuator. The proposed backdrivable servovalve simultaneously contains the characteristics of a flow-control servo valve (=feedback spring) and a pressure-control servovalve (=pressure feedback port). Consequently, the torque control performance of electro-hydraulic torque actuators (EHTAs), which consist of the backdrivable servovalve and rotary vane-type hydraulic actuators, can be enhanced. First, the effective torque bandwidth, which represents the region where the torque output remains constant within a 90$<^>{\circ }$ phase lag, is improved. Second, torque-based control algorithms developed for electric motors are realized in a wide frequency region. Finally, although the effect of viscous friction increases, the effect of static friction is reduced. With these advantages, we achieved an enhanced EHTA with calculated torque output of -372$\sim$355 Nm; this could facilitate in the development of a high-performance interactive robot system. The proposed backdrivable servovalve and enhanced EHTA were evaluated through experiments.
Keywords
JOINT; ROBOTS
URI
https://oasis.postech.ac.kr/handle/2014.oak/101492
DOI
10.1109/LRA.2020.2975728
ISSN
2377-3766
Article Type
Article
Citation
IEEE ROBOTICS AND AUTOMATION LETTERS, vol. 5, no. 2, page. 3145 - 3152, 2020-04
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정완균CHUNG, WAN KYUN
Dept of Mechanical Enginrg
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