High speed electro-hydraulic actuator for a scara type robotic arm

Abstract

This study details the development of a high performance servo-hydraulic actuator for a Selective Compliant Assembly Robotic Arm (SCARA). The arm is intended for high speed food processing applications; specifically on-line poultry deboning. The system is mathematically modeled and simulated. Based on the simulation results, the hydraulic actuators are sized for optimal performance. A prototype actuator is subsequently designed, manufactured and experimentally evaluated. The tests results demonstrate that the prototype actuator is capable of producing unprecedented torques and associated accelerations relative to its size and mass. Comparable performance is not feasible with contemporary electrical actuators of similar size.