Development of a Novel Hydrostatic Continuously Variable Transmission with Fast Path Switching

Keisuke Sugihara, T. Nozaki, T. Murakami
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Abstract

Recently, human-robot collaboration is required in many kinds of fields. To develop robotic systems for collaboration with humans, a wide driving range of robotic actuators is necessary. For example, robots for rehabilitation have to conduct some tasks, like supporting human and moving fast. Backdrivability is also necessary for robotic actuators from a viewpoint of safety. A hydraulic closed circuit called an electro-hydrostatic actuator (EHA) is utilized for robotic actuators since they have high power/weight ratio and backdrivability. However, EHA cannot achieve characteristics of both high velocity driving and high force driving since a reduction ratio is constant. This paper proposes a novel hydrostatic continuously variable transmission that has two oil paths with a solenoid valve. The solenoid valve switches between two discrete reduction ratios by switching two oil paths. Furthermore, this paper realizes a continuously variable reduction ratio by switching the two oil paths quickly. This paper confirms that the reduction ratio changes continuously and widely by simulations.
一种新型快速路径切换静压无级变速器的研制
近年来,许多领域都需要人机协作。为了开发与人类协作的机器人系统,需要广泛的机器人执行器驱动范围。例如,用于康复的机器人必须执行一些任务,如支持人类和快速移动。从安全的角度来看,反驾驶性也是机器人执行器的必要条件。由于机器人执行器具有高功率/重量比和反驾驶性能,因此采用了一种称为电静液致动器(EHA)的液压闭环。但由于减速比一定,EHA无法同时实现高速驱动和强力驱动的特性。提出了一种新型的带电磁阀的双油路静压无级变速器。电磁阀通过切换两个油路在两个离散减速比之间切换。此外,通过快速切换两油路,实现了无级变减速比。本文通过仿真验证了减速比的变化是连续而广泛的。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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