Journal article
Design, Implementation and Control of an Improved Hybrid Pneumatic-Electric Actuator for Robot Arms
Abstract
Actuators used in robot arms need to be powerful, precise, and safe. We present the design, implementation, and control of a novel rotary hybrid pneumatic-electric actuator (HPEA) for use in robot arms, and collaborative robots in particular (also known as “cobots”). This HPEA is capable of producing torque 3.5 times larger than existing HPEA designs while maintaining low mechanical impedance (due to low values of friction and inertia) and …
Authors
Rouzbeh B; Bone GM; Ashby G; Li E
Journal
IEEE Access, Vol. 7, , pp. 14699–14713
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
January 1, 2019
DOI
10.1109/access.2019.2891532
ISSN
2169-3536