Modelling of a water hydraulic vane actuator
Among hydraulic actuators, the vane is considered to be a simple one from the design point of view. However, tight tolerances between the axel and the chamber make the construction of this actuator a demanding task. The challenge is to find an optimum balance between the internal friction and leakage. Despite these difficulties, such actuators are ideal for the construction of the joints of a hydraulic manipulator. The high power to size ratio of actuators results in direct driven manipulator joints with reduced components and mechanical backlashes. Several industrial manipulators have been designed using the vane actuators with oil as the pressure medium. However, a little research has been done with vanes designed to be used with water as the pressure medium. In this paper the modelling of a water hydraulic vane actuator has been discussed. The vane has been designed to actuate the joints of a water hydraulic manipulator which is required to carry out several remote handling operations in the divertor region of ITER (International Thermonuclear Experimental Reactor). Both non-linear and linear model of the system has been presented. The parameters for the nonlinear model such as friction, leakage, etc. have been obtained experimentally. Both nonlinear and linear models are then verified against the experimental measurements from the vane. The controller has been designed using the linear model and then tested against the nonlinear model and the actual vane. The results show that a reasonably accurate model useful for the controller design can be obtained for this water hydraulic vane actuator.
Water Hydraulics Robotics Control Modelling
A Muhammad P Valkama J Manila T Virvalo M Vilenius
Department of Intelligent Hydraulics and Automation, Tampere University of Technology, Tampere, Finland
国际会议
杭州
英文
544-548
2009-04-08（万方平台首次上网日期，不代表论文的发表时间）