Hydraulic Infinite Linear Actuator - The Ballistic Gait Digital Hydro-Mechanical Motion

Martin Hochwallner
Division of Fluid and Mechatronic Systems, Linköping University, Linköping, Sweden

Petter Krus
Division of Fluid and Mechatronic Systems, Linköping University, Linköping, Sweden

Ladda ner artikelhttp://dx.doi.org/10.3384/ecp1714410

Ingår i: Proceedings of 15:th Scandinavian International Conference on Fluid Power, June 7-9, 2017, Linköping, Sweden

Linköping Electronic Conference Proceedings 144:1, s. 10-17

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Publicerad: 2017-12-20

ISBN: 978-91-7685-369-6

ISSN: 1650-3686 (tryckt), 1650-3740 (online)


The Hydraulic Infinite Linear Actuator, HILA, has been presented in [1], [2], and [3]. The novel actuator consists of one, two or more double acting cylinders with a common piston rod and hydraulically detachable pistons. In the basic gait [1], alternatingly, one cylinder engages and drives the load while the other retracts, the HILA thus works in a kind of rope climbing motion. But the concept allows also other gaits, pattern of motion.

This contribution focuses on the ballistic gait, a pattern of motion where one cylinder engages to give the load a push. Then the load carries on with its motion by inertia, cylinders disengaged. The actuator realizes thus hydro-mechanical pulse-frequency modulation (PFM). This gait is energy efficient and able to recuperate energy.


Novel actuator, infinite linear motion, digital fluid power, digital hydromechanical motion, energy recuperation


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