Hydraulic Actuator System
First Claim
1. A system for hydraulically actuating at least one degree of freedom, said system comprising:
- a prime mover and at least one actuation module, each actuation module including;
(1) an over-center variable displacement pump, said pump having;
(a) a power input connection configured to power the pump from said prime mover; and
(b) a displacement varying input for varying the displacement of the pump; and
(2) a displacement varying actuator configured to modulate the displacement varying input of the pump;
(3) an output actuator in direct communication with the pump, said an output actuator being configured to drive a corresponding degree of freedom; and
(4) a feedback measurement that represents a force or motion of the output actuator, said feedback measurement being constructed from at least one sensor; and
a controller configured to control the prime mover and the displacement varying actuator, wherein said controller uses the feedback measurement to regulate the force or motion of the output actuator by controlling the displacement varying actuator.
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Accused Products
Abstract
The invention is directed to controlling a hydraulic actuation system having at least one degree of freedom, a prime mover, at least one actuation module and a controller, with each actuation module including: an over-center variable displacement pump having a power input connection configured to power the pump from the prime mover and a displacement varying input for varying the displacement of the pump; a displacement varying actuator configured to modulate the displacement varying input of the pump; an output actuator in direct communication with the pump, the output actuator configured to drive a corresponding degree of freedom; and at least one sensor establishing a feedback measurement that represents a force or motion of the output actuator. Based on a value of each feedback measurement, the force or motion of the output actuator is regulated by controlling the prime mover and the displacement actuator for the output actuator.
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Citations
28 Claims
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1. A system for hydraulically actuating at least one degree of freedom, said system comprising:
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a prime mover and at least one actuation module, each actuation module including; (1) an over-center variable displacement pump, said pump having; (a) a power input connection configured to power the pump from said prime mover; and (b) a displacement varying input for varying the displacement of the pump; and (2) a displacement varying actuator configured to modulate the displacement varying input of the pump; (3) an output actuator in direct communication with the pump, said an output actuator being configured to drive a corresponding degree of freedom; and (4) a feedback measurement that represents a force or motion of the output actuator, said feedback measurement being constructed from at least one sensor; and a controller configured to control the prime mover and the displacement varying actuator, wherein said controller uses the feedback measurement to regulate the force or motion of the output actuator by controlling the displacement varying actuator. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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27. A method for controlling a hydraulic actuation system having at least one degree of freedom, a prime mover, at least one actuation module and a controller, with each actuation module including:
- an over-center variable displacement pump having a power input connection configured to power the pump from said prime mover and a displacement varying input for varying the displacement of the pump;
a displacement varying actuator configured to modulate the displacement varying input of the pump;
an output actuator in direct communication with the pump, said output actuator configured to drive a corresponding degree of freedom; and
at least one sensor establishing a feedback measurement that represents a force or motion of the output actuator, said method comprising;reading a value of each feedback measurement; and controlling the force or motion of the output actuator by controlling the prime mover and the displacement actuator for the output actuator.
- an over-center variable displacement pump having a power input connection configured to power the pump from said prime mover and a displacement varying input for varying the displacement of the pump;
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28. A system for hydraulically actuating one degree of freedom within a device, said system comprising:
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a prime mover and one actuation module, said module including; (1) an over-center variable displacement pump, said pump having; (a) a power input connection configured to power the pump from said prime mover, (b) a displacement varying input for varying a displacement of the pump, (2) a displacement varying actuator configured to modulate the displacement varying input of the pump, (3) an output actuator in direct communication with the pump, said output actuator configured to drive a corresponding degree of freedom, and (4) at least one sensor for constructing a feedback measurement that represents a force or motion of the output actuator, and a controller configured to control the prime mover and the displacement actuator wherein, when said output actuator is absorbing power from said device, said controller controls the prime mover and displacement actuator to achieve two goals; (1) regulate the force or motion of said output actuator, and (2) maximize power absorbed by said prime mover.
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Specification