We often use hydraulic systems to transmit large forces and torques. These enable us to have a compact design, long-term stability and self-lubrication. The hydraulic cylinder is one of the main components of hydraulic systems and is used for controlled power transmission. Various feed encoders are mainly used in automated systems. Regarding the measurement method, gauges are divided into optical, inductive, magnetic and those with the principle of eddy currents. According to the output signal, they are divided into incremental, absolute and quasi-absolute meters.
The legs of the existing humanoid robot consist of six hydraulic cylinders. For the further development, it is necessary to install displacement gauges in all its hydraulic cylinders. As part of the task, all options for measuring the displacement of the pistons of hydraulic cylinders on the market were examined. A three-dimensional model of the hydraulic cylinders was made and the installation of various displacement gauges was planned. The price and functionality of individual solutions were compared and the most suitable was selected. The selected gauge was installed in the cylinder, its operation was tested and its usefulness was evaluated.
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