Industrial Robot Hydraulic Design
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Overview
The current plan is to use a parallel hydraulic circuit (constant pressure at each joint motor, varying flow based on load force and extent of valve opening). If so, flow control is necessary (to control speed of arm movement for varying load forces) and directional control is necessary (to allow reverse arm movement). Also, a pressure relief valve back to the tank is necessary to maintain continuity of flow even while all 6 joints are stationary.
Flow Control
Possibility is needle valve operated through a stepper motor which can be electronically controlled.
Directional Control
Possibility is 2-position, 4-way solenoid valve
Hydraulic Motor
Possibility is epicyclic (gerotor) motors