摘要
针对液压四足机器人作动器能耗较大问题,分析液压四足机器人各关节驱动力在摆动相和支撑相特点,提出变供油压力作动器作为液压机器人关节驱动方案,给出变供油压力作动器的构成、工作原理及参数设置方法,应用增益切换方法实现变供油压力作动器控制.此变供油压力作动器具有结构简单、控制方便、节能效果显著、便于应用到其他载荷变化较大的场合.采用MATLAB、AMESim联合仿真平台进行所提方案验证,仿真结果表明,变供油压力作动器与固定供油压力作动器具有相同性能,且能够实现系统节能,最后通过机器人单腿测试平台验证了所建仿真模型的正确性.
According to the large energy consumption of hydraulic quadruped robot actuator,the joint driving force characteristics of swing phase and support phase was analyzed,the scheme of variable supply pressure actuator used for driving the quadruped robot joint was proposed. Variable supply pressure actuator composition,working principle and parameter setting were given. Gain switching controller was employed for obtaining higher servo control. The variable supply pressure actuator has the advantage of simple structure,convenient control,remarkable energy-saving effect,and as well as be convenient to apply to wide load range. The proposed scheme was verified on Co-simulation of MATLAB AMESim and single leg testing platform of quadruped robot,the simulation and experimental results showed that the variable supply pressure actuator and fixed supply pressure actuator had the same dynamic characteristics,with energy saving of 17% more,which verified the efficiency of the proposed scheme.
出处
《哈尔滨理工大学学报》
CAS
北大核心
2016年第2期53-59,共7页
Journal of Harbin University of Science and Technology
基金
国际科技合作项目(2012DFR70840)
关键词
液压四足机器人
变供油压力
节能
位置伺服
hydraulic quadruped robot
variable supply pressure
energy saving
position servo
