Developmet of Highperfomance Hydraulic Acutuators and their Application to Tough Robot Hand

Hydraulic actuators attract attention as actuators for robots in extreme environment. Conventional hydraulic actuators are difficult to use as an actuator of the robot in terms like size and performance. Most of them are used in construction machines. We have developed hydraulic actuators for multifingered tough hand which can be applied to various tasks. They are driven with 35MPa hydraulics , smaller than conventional hydraulic actuators, and work with low friction. Developed hydraulic cylinder has twice force/mass ratio of conventional hydraulic cylinder. Developed hydraulic motor has about three times torque/mass ratio of conventional hydraulic motor. Applying them results in high power tough robot hand with 12 DoF.