Autonomous Field Supply Vehicle (AFSV)

Application: Large Payload Robotic Delivery Vehicle

Product: S-Series SMART Electro-Hydraulic Actuator

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Challenge:

Kyntronics customer RMD Systems, was tasked with designing a large legged robotic platform, referred to as Autonomous Field Supply Vehicle (AFSV) for transporting sensitive payload on a military application.

The payload was over 2,000 lbs, and extremely sensitive to shock and vibration. RMD needed an actuator that was capable of providing high force in a small package. Additionally, the actuator needed to be rugged enough for outdoor use, power efficient, and tolerate high shock loading.

Solution:

RMD tested hydraulic actuators, electromechanical actuators (EMAs), and electro-hydraulic actuators during the design phase. A purely hydraulic solution was deemed too heavy and complex with the required hoses, tubing, and valves, while electromechanical actuators did not have the force density or the durability against shock loading required for the application.

The electro-hydraulic actuators from Kyntronics provided the force density and durability of a hydraulic solution, while also providing the low mass and ease of system integration characteristics of an EMA solution. Additionally, the valving inside the Kyntronics actuator allowed the actuators to hold a static load without consuming any power.

Results:

RMD successfully designed, built, and tested the AFSV in 20 months from project kickoff. Kyntronics provided three configurations of actuators based on the force and speed requirements of the specific leg joints (Coxa, Femur, and Tibia joints). The actuators were integrated with RMD’s gait engine control software that utilizes position and force feedback from the actuators to control the legs and the body of the vehicle. The system has demonstrated omni-directional walking, six DOF body control, and operation on various terrain types while carrying a simulated payload.