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Work Amplification of the Hydraulic Servo Actuator with a Miniature Accumulator*

Actuator performance is an important factor limiting the dynamic characteristics of the robot. In this paper, the energy transfer capability of the hydraulic servo actuator is improved by adding a miniature accumulator. We established the dynamic model of the system and obtained the optimal inflation pressure of the gas in the accumulator by numerical method. Both numerical analysis and virtual prototype simulation show this design can enlarge the work of the actuator to about 1.66 times the original. It allows the actuator to maintain high performance while reducing mass and volume.