液压足式机器人关节驱动系统实验台研究
Research on Hydraulic Legged Robot Joint Drive System Testing Platform
陈浩祥 1翁之旦 2俞亚新 1金波 3刘子祺3
作者信息
- 1. 浙江理工大学机械工程学院,浙江杭州 310018
- 2. 宁波华液机器制造有限公司,浙江 宁波 315153
- 3. 浙江大学机械工程学院,浙江杭州 310058
- 折叠
摘要
为测试液压足式机器人关节驱动系统的控制性能,实现对外负载力的精确模拟并研究高性能控制策略,设计液压足式机器人关节驱动系统实验台.介绍了关节驱动系统实验台的工作原理、机械结构、液压系统及测控系统;在MATLAB/Simulink平台中建立了关节驱动系统实验台仿真模型,通过仿真分析,验证了实验台的负载模拟能力及控制性能.研究结果表明,实验台能够实现负载力加载并实现精确控制,为后续液压足式机器人关节驱动系统的研究提供平台.
Abstract
The joint drive system is the crucial control system of the hydraulic legged robot,and its control performance determines the motion performance of the robot.In order to test the control perform-ance of the joint drive system of the hydraulic legged robot,to achieve the accurate simulation of external load force and to research the high-performance control strategy,the joint drive system test platform of the hydraulic legged robot is designed.The working principle of the joint drive system test platform is in-troduced,and the design of the mechanical structure,hydraulic system and measurement and control sys-tem of the test platform is completed;the simulation model of the joint drive system test platform in MATLAB/Simulink platform is established,and the load simulation ability and control performance of the test platform are verified through simulation analysis.The results show that the joint drive system test platform can accurately achieve the load force loading and precise control,and provide a platform for the subsequent research on the joint drive system of hydraulic legged robot.
关键词
液压足式机器人/关节驱动系统/负载模拟/数学建模/测试平台Key words
hydraulic legged robot/joint drive system/load simulation/mathematical modeling/testing platform引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据