A Symmetric Multichamber Hydraulic Cylinder With Variable Piston Area: An Approach to Compact and Efficient Electrohydrostatic Actuation

Abstract This paper presents an approach for designing symmetric (effective cylinder area during extension is the same as that during retraction) multichamber cylinders with discretely variable piston area. The design methodology is presented in a generalizable manner and is demonstrated on an example five-chamber cylinder design. A method for finding symmetric multichamber cylinder configurations from a given cylinder topology is presented, and subsequently, a method for discretely varying the effective piston area is developed, subject to a cylinder symmetry constraint. Furthermore, an algorithm is presented to optimally switch the effective cylinder area of an electrohydrostatic actuation system either to minimize the magnitude of motor torque or to minimize resistive power losses in the system. Additionally, a method for optimizing standard (constant area) hydraulic cylinders to minimize motor torque magnitude or resistive power losses is presented. These methods are then demonstrated on an example electrohydrostatic actuation system via simulation. Results indicate that this multichamber cylinder approach with discretely variable piston area may allow for the design of compact and efficient actuators relative to standard methods.