Abstract
ABSTRACTIn the early developmental stages of robotics, hydraulics played an important role. Many of the early high-payload capacity manipulators were actuated by hydraulic cylinders and hydraulic rotary actuators. As the power-to-weight ratio of electric motors increased, they eventually came to be the preferred form of actuation for robotic manipulators because of the relative ease of operation, control, and maintenance for general cleanliness. Recently, however, task requirements have dictated that manipulator payload capacity increase to accommodate greater payloads, greater manipulator length, and larger environmental interaction forces. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem), sophisticated modeling, analysis, and control experiments are usually needed. Oak Ridge National Laboratory (ORNL) has a history of projects that incorporate hydraulics technology, including mobile robots, teleoperated manipulators, and full-scale construction equipment. The...
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