Concept Development of a Water Hydraulic Actuation System

European Union’s need of mining inside its borders generates a demand for innovative mining machinery. The objective of the ROBOMINERS project’s mining robot is to meet that demand. This kind of innovative mining machinery require innovative systems and procedures to solve different environmental, legislative and engineering challenges. This thesis lays down the foundations of water hydraulic systems and water hydraulic actuators for the actuation system development of the mining robot prototype. Since mineral oil is more commonly used in hydraulics, the use of water as a hydraulic fluid is examined. After the examination of water hydraulic systems and its components, the aim was moved towards hydraulic artificial muscles (HAMs). The possibilities and challenges of this kind of actuators were studied, as they will be utilised in the mining robot. One type of commercial off-the-shelf (COTS) HAM was tested to ensure the findings of these studies and to start the development of the mining robot’s actuating mechanisms. The study indicates that water hydraulic systems are a viable drivetrain option for the mining robot. In addition, 3 European suppliers of water hydraulic components were found. COTS components from these suppliers will help in the building process of the actuation system. Furthermore, findings and testing of the HAMs gave some base information for the use of this kind of actuators. It was found, that the Festo’s Fluidic Muscles should be suitable for the mining robot prototype, as they reach over 14 kN maximum force and allow 14 bars of overpressure. This thesis can also be used as an introduction to water hydraulic systems and water hydraulic actuators for the ROBOMINERS project group