A bio-mimetic robot arm actuated by micro EHA

Abstract

Most of robotic arm is actuated by electric motors. In this paper, we introduce a bio-mimetic robot arm actuated by hybrid power including electric motor and hydraulic power, which is light in weight and able to handle high pay-load by using micro electro-hydraulic actuator. Novel hydraulic actuator was designed and developed for this research, which is easy to use and control as it is to be driven in the same way as general electric motor. Each joints of the arm was composed of parallel link mechanism which is very similar to the structure of human. The robotic arm developed for this research has weight of 2.2Kg only where as it could lift up the object with 5Kg or more in mass.