翻译急液压Phase I, the basic technology of an EHA control architecture and transmission will beevaluated and developed to determine the feasibility of this approach. Technical challenges areforeseen in two areas: controllability and packaging. T

翻译急液压Phase I, the basic technology of an EHA control architecture and transmission will beevaluated and developed to determine the feasibility of this approach. Technical challenges areforeseen in two areas: controllability and packaging. T
翻译急液压
Phase I, the basic technology of an EHA control architecture and transmission will be
evaluated and developed to determine the feasibility of this approach. Technical challenges are
foreseen in two areas: controllability and packaging. To address the first, a control approach and
algorithm will be developed and simulated using a mathematical model of the physical plant and
control algorithm. Next, an EHA test bed will be designed and fabricated to verify the results of
the simulation. A controllable load combined with torque, pressure, position and current
transducers, and data-acquisition equipment will be used to evaluate actuator performance across
its operating range. The packaging challenge lies in two areas. Most off-the-shelf hydrostatic
transmission components are designed for use in applications where indestructibility rather than
weight as the driving criterion. It is expected that significant weight savings will be realized by
eliminating redundant housings, bearings, couplings, and fittings. The second part of the
packaging challenge lies in the physical arrangement of a hydrostatic transmission with an
adequate reduction ratio in a high-pressure housing. This will be addressed through evaluation
and selection of the most appropriate hydrostatic technology (gerotor, helical screw, vane, piston,
etc...) and conceptual design of a packaging arrangement.
The focus of Phase II is on the design and fabrication of a fully integrated EHA compatible with
ARM’s existing EMA architecture. This EHA will be a basic building block of a modular D&D
manipulator. The technical challenge is anticipated to be the integration of the hydrostatic
components in a compact lightweight package. The conceptual hydrostatic design of Phase I will
be refined by working closely with a hydrostatic component vendor. Advanced materials and
manufacturing processes may be applied. The motor and DISC (ARM’s Distributed Intelligent
Servo Controller) controller section are expected to remain very similar to ARM’s modular
EMAs. Depending upon the final layout, ARM’s absolute position sensor may require
repackaging. This unique sensor is mounted inside the gear train of the current EMA design to
maximize packing efficiency. As with the conceptual EMA design, complete solid models will
be built to aid in the complex 3-D design and maximize the use of all available volume

翻译急液压Phase I, the basic technology of an EHA control architecture and transmission will beevaluated and developed to determine the feasibility of this approach. Technical challenges areforeseen in two areas: controllability and packaging. T
第一阶段,基本技术的一个eha控制体系结构和传输会
评价和开发,以确定这个办法的可行性.技术上的挑战是
预计在两个方面：可控性和包装.针对第一,控制方法和
算法将得到发展和模拟用的数学模型,物理和核电厂
控制算法.接下来,一个eha试验台,将设计和制作,以核实结果
仿真.可控负荷加上扭矩,压力,位置和电流
传感器和数据采集设备将被用来评估作动器的性能
它的经营范围.包装上的挑战在于两个方面.最场外采用现成的静水
传动部件的设计,使用,适用于indestructibility而非
重量为驾驶标准.可以预料,显着减轻重量,将实现
消除多余的外壳,轴承,联轴器,及配件.第二部分的
包装面临的挑战是如何在物理安排一项静压传动与
足够的压缩比,在高压力的房屋.这将通过评估
并选出最适当的静压技术（ gerotor ,螺旋螺杆,滑片,活塞,
等等.. ）及概念设计包装的安排.
重点的第二阶段是对设计与制作的一个完全整合eha兼容
手臂¯现有EMA的建筑.这eha将是一个基本的建筑砌块一个模块化d ＆ D的
机械臂.该技术的挑战是,预计可于一体化的静水
组件在一个紧凑轻巧包装.概念性静水设计阶段,我会
改进工作,密切与静水组件的厂商.先进的材料和
制造工艺可以适用.电动机和圆盘（手臂¯ s分布式智能
伺服控制器）控制器第预料仍然十分相似手臂¯ s模块化
金融时报.这取决于最终的布局,手臂¯ s绝对位置传感器,可要求
新包装.这种独特的传感器安装在车厢内齿轮的列车,目前EMA的设计
最大限度地包装效率.作为与概念EMA的设计,完整的实体模型,将
建援助,在复杂的3 D设计,并最大限度地利用一切可利用的数量
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