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Abstract: The paper deals with the theoretical modelling of the high performance Integrated Electro-Hydraulic Actuator (IEHA) introduced in the first part of this work. Based of the hydraulic and dynamic equations, we carried out an analysis of the IEHA input/output relation. A simulation based on this input/output model is detailed showing the ability to access several time derivatives of the payload position mainly its “jerk”, which represents an important issue whenever motion control is considered. We show the theoretical dynamic properties of the proposed solution through open and closed loop simulation results based on Matlab-Simulink. A comparison between the theoretical and experimental results obtained by a built prototype is given in order to demonstrate the promising performances of the proposed solution. [Copyright &y& Elsevier]

Abstract: We design a new high performance integrated electro-hydraulic actuator (IEHA). We propose a new solution to a still open question in robotics, to provide an efficient and compliant actuation. The proposed actuator, which is dedicated to motorize independently each joint of a robotic system is designed to be fixed as near as possible to the joint itself, enhancing the performances while reducing the usual drawbacks of classical hydraulic actuation. The novel IEHA contains an integrated micro-pump with a floating barrel allowing the inversion of the flow direction without inverting the rotation of the input electric motor. The integration of a micro-valve and a rotary hydraulic distributor ensure the compactness of the proposed solution. In this paper, first, the proposed hydraulic actuation principle is given in detail. Then the designed prototype and the first experiments are presented demonstrating the novelty and the efficiency of our solution. [Copyright &y& Elsevier]