Characterization of an Electric-Pneumatic Hybrid Prismatic Actuator

摘要

Many high performance actuators have been developed in recent years. However, these actuators are generally designed for precise, relatively slow movements, or imprecise dynamic motion, but incapable of generating quasistatic trajectories. This dichotomy arises in part due to thrusting actuation technology that often trades off impulse for precision. A characterization of a bidirectional hybrid actuator developed for use in legged robots is described here. This actuator is capable of precise noncompliant positioning, and storage and rapid release of energy, which makes it equally suitable for static and dynamic positioning applications. Characterizations shown here allow tuning the actuator in future versions to reduce losses and increase efficiency.