Conceptual design and analysis of a novel actuator
By: by J.D. Ingram, H.R. Everett, D.L. Smith, J. McDonnel
Contributors: Everett, Hobart R.; Smith, David L.; McDonnel, J.; Naval Postgraduate School (U.S.). Dept. of Mechanical Engineering
Publisher: Naval Postgraduate School; Available from National Technical Information Service
Published: 1988
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Number of pages: 37
Subjects: ROBOTICS
Other titles: NPS-69-88-011.
Description: Conventional robotic actuators which motive power for manipulators have been commonly      limited to three basic types: electric, pneumatic and hydraulic. Each type has advantages and      limitations which have dictated their respective suitability for specific applications. However,      new manipulator functions may require such qualities as stiffness, high speed, low weight, low      inertia, high power output, reversibility, and accurate positioning, which are not usually      mutually compatible within an actuator type. With the increased use of robots in industry and      the military, new robot-specific actuators will be developed to better meet functional      requirements. One concept to be considered is a stiff pneumatic-hydraulic actuator for mobile      anthropomorphic robot application. This paper explores the conceptual design feasibility of      such an actuator system, and presents a first order system analysis of key parts. (JES)
Notes: Cover title.

"NPS-69-88-011."

"October 1988."

"Final report from June 1988 through September 1988."

AD A201 010.

Includes bibliographical references (p. 35)

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