Name
Abstract | ||
|---|---|---|
Energetic autonomy of a hydraulic-based mobile field robot requires a power source capable of both electrical and hydraulic power generation. While the hydraulic power is used for locomotion, the electric power is used for the computer, sensors and other peripherals. An internal combustion engine was used as the prime mover due to the high energy density of gasoline. The primary specification for this hybrid hydraulic-electric power unit (HEPU) is that it must output constant pressure hydraulic power and constant voltage electric power. An on-board computer uses a pressure sensor and a speed sensor to regulate the pressure and voltage by modulating a hydraulic solenoid valve and an engine throttle. The speed regulation also results in a system noise with predictable frequency band which allows for optimal muffler design. A novel characteristic of this power source is its cooling system in which hydraulic fluid is used to cool the engine cylinders. Several hydraulic-electric power units were built and successfully demonstrated on the Berkeley Lower Extremity Exoskeleton (BLEEX) shown on bleex.me.berkeley.edu/bleex.htm. A prototype power unit weighs 27 Kg, outputs 2.3 kW (3.0 hp) hydraulic power at 6.9 MPa (1000 psi), and 220 W of electric power at 15 VDC. |
Year | DOI | Venue |
|---|---|---|
2005 | 10.1109/IROS.2005.1545452 | Intelligent Robots and Systems, 2005. |
Keywords | Field | DocType |
hydroelectric generators,hydroelectric power,internal combustion engines,mobile robots,power supplies to apparatus,service robots,2.3 kW,220 W,Berkeley Lower Extremity Exoskeleton,cooling system,engine throttle,hydraulic power,hydraulic solenoid valve,hydraulic-electric power unit,internal combustion engine,mobile field robot,mobile power sources,onboard computer,power generation,pressure sensor,service robotics,speed sensor,BLEEX,field and service robotics,hydraulic power,mobile power sources,power generation | Electric power,Hydraulic fluid,Hydraulic machinery,Computer science,Power factor,Control engineering,Prime mover,Electro-hydraulic actuator,Power transmission,Electrical engineering,Switched-mode power supply | Conference |
ISBN | Citations | PageRank |
0-7803-8912-3 | 16 | 4.64 |
References | Authors | |
6 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kurt Amundson | 1 | 16 | 4.64 |
| Justin Raade | 2 | 19 | 5.14 |
| Nathan Harding | 3 | 16 | 4.64 |
| H. Kazerooni | 4 | 766 | 314.26 |