Application of the Water-Based Electro-Hydraulic Actuator (EHA) to the Heavy-Duty Collaborative Robot

摘要

In this paper, the design of a driving mechanism for a heavy-duty collaborative robot (cobot) capable of lifting payloads up to 20 kg is presented. This study focuses on an articulated robot utilizing a water-based Electro-Hydraulic Actuator (EHA). The Denavit–Hartenberg (D–H) representation was employed to relate the rotational angles and the end-effector’s location, facilitating the design of the actuators. The maximum required torques for joints 2 and 3, responsible for lifting for 12 s, were calculated under quasi-static and dynamic loading conditions. The results showed that the maximum required torques were 126.67 Nm and 58.86 Nm for joint 2 and 3, respectively. The maximum torque for joint 2 occurs when the pitch links are fully extended, whereas the maximum torque for joint 3 occurs when the third link is parallel to the ground. The torques, due to the inertia and Coriolis dynamic terms, were also calculated and found to be lower than those required for the gravitational term. Various maneuvering scenarios, along with Ansys Motion simulation, were analyzed for the verification of the results. Based on the calculated maximum torques, the linear actuators of the EHA were designed. The heavy-duty cobot can be built with the developed actuator proposed in this paper. The total weight of the entire frame was measured to be 14.59 kg, resulting in a high Payload/Weight (P/W) ratio of 1.37. In conclusion, the robot was made lighter and can operate more efficiently, particularly for heavy loads up to 20 kg.