Abstract
Often, fluidic soft robots are driven by large pneumatic or low-bandwidth hydraulic systems which struggle to meet performance objectives. This research presents the design of two morphologies of compact, positive displacement hydraulic pumps designed to act as power supplies for fluidic soft robots. These hydraulic pumps were designed to leverage additive manufacturing technology, creating cost-effective, yet volumetrically powerful units. The operational bandwidth of these pumps (> 10Hz) was substantially higher than the natural frequency of most elastomer-based soft robots (1–5Hz), allowing high control authority.
These designs allow for highly scalable pumps, with performance documented in the paper. Due to the 3D printed nature of the pump components, manufacture cost is greatly reduced when compared to machined components. Each was tested driving various soft robotic actuators, demonstrating high-bandwidth, yet precise operation.
With their minimal size, these pumps are candidates for un-tethered mobile soft robots, and their low weight and low noise allows them to be carried on the body for robotic actuators used in mobility rehabilitation.
