A smart hydraulic joint for future implementation in robotic structures

Authors:
J. Berring;K. Kianfar;C. Lira;C. Menon;F. Scarpa
Affiliations:
Menrva group, school of engineering science, simon fraser university, 8888 university dr., burnaby, bc, v5a 1s6, canada;Menrva group, school of engineering science, simon fraser university, 8888 university dr., burnaby, bc, v5a 1s6, canada;Department of aerospace engineering, university of bristol, uk;Menrva group, school of engineering science, simon fraser university, 8888 university dr., burnaby, bc, v5a 1s6, canada;Department of aerospace engineering, university of bristol, uk
Venue:
Robotica
Year:
2010

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Abstract

A hydraulic flexible joint inspired by the actuation system of spiders is investigated in this paper. Its design and characteristics are discussed and a mathematical model is developed to describe its static behaviour. Results of experimental tests are presented to validate its performance. A comparison to other hydraulic actuation systems is performed. The use of the proposed hydraulic flexible joint in adaptive robotic structures is addressed and discussed.