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The design of modern robotic devices faces numerous requirements and limitations which are related to optimization and robustness. Consequently, these stringent requirements have caused improvements in many engineering areas and lead to development of new optimization methods which better handle new complex products designed for application in industrial robots. One of the newly developed methods used in industrial robotics is the concept of a self-contained power device, an Electro-Hydrostatic Actuator (EHA). EHA devices were designed with a central idea, to avoid the possible drawbacks which were present in other types of actuators that are currently used in robotic systems. This paper is a review of the development phases of an EHA device for robotic applications. An overview of the advantages and disadvantages related to current EHA designs are presented, and finally possible ideas for future developments are suggested.

Review of Development Stages in the Conceptual Design of an Electro-Hydrostatic Actuator for Robotics