Publications Details

Two-axis hydraulic joint for high speed, heavy lift robotic operations

Vaughn, M.R.; Robinett, R.D.; Phelan, J.R.; Vanzuiden, D.M.

A hydraulically driven universal joint was developed for a heavy lift, high speed nuclear waste remediation application. Each axis is driven by a simple hydraulic cylinder controlled by a jet pipe servovalve. Servovalve behavior is controlled by a force feedback control system, which damps the hydraulic resonance. A prototype single joint robot was built and tested. A two joint robot is under construction.