Design and Analysis of a New High Performance Electrohydraulic Actuator

Abstract This paper describes a new high performance robotic actuation system that presents a powerful alternative to existing commercial systems. This actuation system is self-contained and combines the benefits of conventional hydraulic and direct drive electrical actuators, namely high torque/mass ratio and modularity. It is referred to as the ElectroHydraulic Actuator (EHA) and results from the fusion of the above mentioned technologies. EHA is a unique device with its own characteristics and requires hydraulic components that are specifically tailored to its needs. To fulfill these requirements, a new symmetrical Linear Actuator (SLA) was designed as a sub-component of EHA. Experimental data from a prototype of EHA are reported.