[1]陈浩祥,翁之旦,俞亚新,等.液压足式机器人关节驱动系统实验台研究[J].机械与电子,2024,42(07):57-63.
　CHEN Haoxiang,WENG Zhidan,YU Yaxin,et al.Research on Hydraulic Legged Robot Joint Drive System Testing Platform[J].Machinery & Electronics,2024,42(07):57-63.
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液压足式机器人关节驱动系统实验台研究()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
42
期数:
2024年07期
页码:
57-63
栏目:
智能制造
出版日期:
2024-07-26

文章信息/Info

Title:
Research on Hydraulic Legged Robot Joint Drive System Testing Platform
文章编号:
1001-2257 ( 2024 ) 07-0057-07
作者:
陈浩祥 1 ; 翁之旦 2 ; 俞亚新 1 ; 金 波 3 ; 刘子祺 3
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
Author(s):
CHEN Haoxiang1 ;  WENG Zhidan2 ;  YU Yaxin1 ;  JIN Bo3 ;  LIU Ziqi3
( 1.School of Mechanical Engineering , Zhejiang Sci-Tech University , Hangzhou 310018 , China ;
2.Ningbo HOYEA Machinery Manufacture Co. , Ltd. , Ningbo 315153 , China ;
3.School of Mechanical Engineering , Zhejiang University , Hangzhou 310058 , China )
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
Keywords:
hydraulic legged robot ;  joint drive system ;  load simulation ;  mathematical modeling ;  testing platform
分类号:
TH137 ; TP242
文献标志码:
A
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 performance 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 introduced , and the design of the mechanical structure , hydraulic system and measurement and control system 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.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2023-10-25
作者简介:陈浩祥 ( 1999- ),男,浙江温州人,硕士研究生,研究方向为液压足式机器人关节驱动系统;翁之旦 ( 1984- ),男,浙江宁波人,硕士,副高级工程师,研究方向为机电控制、电液控制和液压元件等;俞亚新 ( 1974- ),女,江苏常州人,博士,教授,硕士研究生导师,研究方向为农业机械设计与分析,通信作者;金 波 ( 1971- ),男,江苏常州人,博士,教授,博士研究生导师,研究方向为机电液控制、智能机器人控制;刘子祺 ( 1996- ),男,江苏扬州人,博士研究生,研究方向为足式机器人运动控制、电液控制技术和嵌入式系统。
更新日期/Last Update: 2024-08-30