Low-friction antagonist hydraulic transmission using long-stroke rolling diaphragm cylinders

Saeed Hashemi, Steven Sobojinski, William K. Durfee

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

Hydraulic cylinders are the most common actuators for small, passive hydraulic systems. Friction and leakage of the actuators are the most crucial factors for force and volume efficiency. Development of a frictionless and leak-free cylinder would enable implementation of a passive human body controlled device. Due to the limitation of short stroke length in commercial rolling diaphragm (RD) cylinders, a novel fabric-elastomer long-stroke rolling diaphragm (LSRD) cylinder was developed, evaluated, and compared to the commercial rolling diaphragm, O-ring, and gap seal cylinders. The LSRD cylinder has low friction, zero leakage, and can operate at up to 700 kPa (100 psi). The performance of the LSRD cylinders was evaluated using an antagonist hydraulic transmission benchtop device. Axial motion of the LSRD cylinders was converted to a rotary motion on the input and output shafts using timing belts and pulleys. Two LSRD cylinders were engaged on each shaft and two lever arms were used to control the transmission device. A rotation of 90 degrees was achieved using LSRD cylinders with 1.5-inch stroke length. Friction, stiffness, tracking, impulse response, and step response tests were performed at 70, 170, and 275 kPa (10, 25, and 40 psi) preload pressures to evaluate the transmission device and LSRD cylinder dynamic performance. The results demonstrated that at least 275 kPa preload pressure is needed to have a satisfactory performance. The passive antagonist hydraulic transmission can be used in applications such as wearable robots and telepresence devices.

Original languageEnglish (US)
Title of host publicationASME/BATH 2017 Symposium on Fluid Power and Motion Control, FPMC 2017
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791858332
DOIs
StatePublished - Jan 1 2017
EventASME/BATH 2017 Symposium on Fluid Power and Motion Control, FPMC 2017 - Sarasota, United States
Duration: Oct 16 2017Oct 19 2017

Publication series

NameASME/BATH 2017 Symposium on Fluid Power and Motion Control, FPMC 2017

Other

OtherASME/BATH 2017 Symposium on Fluid Power and Motion Control, FPMC 2017
CountryUnited States
CitySarasota
Period10/16/1710/19/17

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Hashemi, S., Sobojinski, S., & Durfee, W. K. (2017). Low-friction antagonist hydraulic transmission using long-stroke rolling diaphragm cylinders. In ASME/BATH 2017 Symposium on Fluid Power and Motion Control, FPMC 2017 (ASME/BATH 2017 Symposium on Fluid Power and Motion Control, FPMC 2017). American Society of Mechanical Engineers. https://doi.org/10.1115/FPMC2017-4348