유압 호스가 없는 유압 엑츄에이터 시스템 개발

Abstract

The performance of traditional hydraulic multi-DOF robots is limited by the hydraulic hoses across the joints or connecting hydraulic actuator and control valve which can cause can cause the complex system configuration and generate the non-linear dynamics and undesired torque/force by elasticity of hose. To solve this problem, this paper introduces the hose-less approach which is focused on improving the compact and mobility of the hydraulic actuation system. As this feature, the proposed hydraulic actuation system includes a pair of supply and return pipe based on the rotary union mechanism.