Three Axis Electrohydraulic Robotic Wrist

An electrically controlled hydraulically powered robotic wrist was designed and built for a Robotic Munitions Handler. The wrist is designed to handle a 5000 lb. payload generating a requirement for over 400,000 in.-lb. of torque and a high side load capacity. The unit incorporates safety features including a safety control (abort) manifold and load holding brakes. Design considerations are discussed and include the selection of torque generation components, sensors, and control components.