Design and development of novel decoupled two degree of freedom electro-hydraulic servo system for positioning heavy load

Abstract

This paper presents design and development of prototype of novel decoupled two degree of freedom (2 DoF) electro-hydraulic servo system (EHSS). Two linear actuators positioning load in y-z direction are used. Design of 2 DoF system includes design of mechanisms for producing linear and angular motion of load. A linear actuator is used to get linear motion along z axis. Another linear actuator is used to get angular motion about y axis. The prototype is analysed and examined. It is shown that the two degree of freedom are decoupled. The developed mechanism can position load anywhere to 600 mm along z axis and ±30° about y axis. It is shown that the design provides motion of load in 2-dimensional subspace, i.e., 600 mm along z axis in about 20 sec. and ±30° about y axis in about 10 sec.