[1]谢中取,李龙,罗翔,等.液压足式机器人关节驱动器的设计、建模与实验[J].东南大学学报(自然科学版),2018,48(6):1114-1122.[doi:10.3969/j.issn.1001-0505.2018.06.019]
 Xie Zhongqu,Li Long,Luo Xiang,et al.Design, modeling and experiment of hydraulic legged robot joint[J].Journal of Southeast University (Natural Science Edition),2018,48(6):1114-1122.[doi:10.3969/j.issn.1001-0505.2018.06.019]
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液压足式机器人关节驱动器的设计、建模与实验()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
48
期数:
2018年第6期
页码:
1114-1122
栏目:
自动化
出版日期:
2018-11-20

文章信息/Info

Title:
Design, modeling and experiment of hydraulic legged robot joint
作者:
谢中取李龙罗翔马冬徐振东
东南大学机械工程学院, 南京 211189
Author(s):
Xie Zhongqu Li Long Luo Xiang Ma Dong Xu Zhendong
School of Mechanical Engineering, Southeast University, Nanjing 211189, China
关键词:
足式机器人 关节驱动器 密封 建模
Keywords:
legged robot joint actuator sealing modeling
分类号:
TP242
DOI:
10.3969/j.issn.1001-0505.2018.06.019
摘要:
设计了一种具有多重密封的旋转液压关节驱动器.首先,根据设计需求,对关节驱动器和动密封的结构进行参数设计;然后,对驱动器进行数学建模,得到关节驱动器电液位置伺服系统的传递函数,对系统进行稳定性分析,得到系统幅值裕量22.3 dB,相位裕量88.4°,对系统的极点进行分析,简化系统的传递函数和进行理论最佳PID参数设计;最后,对关节驱动器进行关节驱动系统的性能测试与验证实验.实验中测试了关节驱动器的带宽、密封效率以及悬吊和着地条件下步行实验的效果,实验结果表明,在额定压强10 MPa下系统带宽可达5.6 Hz,驱动器的密封效率在70%以上.因而本设计的关节驱动器具有较大的带宽,良好的密封效果,可满足足式机器人高速步行的需求.
Abstract:
A rotary hydraulic joint driver with multiple seals was designed. Firstly, the parameters of the joint actuator and the dynamic seals were designed based on the design requirement. Then, the mathematical model of the actuator was built to obtain the transfer function of the electro-hydraulic position servo system with joint driver. And the stability of the system was analyzed. The system amplitude margin is 22.3 dB and the phase margin is 88.4°. The pole of the system was analyzed, the transfer function of the system was simplified and the optimal PID parameter was designed. Finally, the performance test and verification experiments of the joint drive system were carried out, and the bandwidth, the sealing efficiency of the joint actuator and the effects of robot walking under suspended and grounded conditions were tested. The results show that at the rated pressure 10 MPa, the system bandwidth can reach 5.6 Hz, the sealing efficiency of the driver was above 70%. Thus, the design of the joint actuator has the advantages of large bandwidth and good sealing effect, meeting the demands of high-speed walking of the legged robot.

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备注/Memo

备注/Memo:
收稿日期: 2018-04-18.
作者简介: 谢中取(1993—),男,博士生;罗翔(联系人),男,博士,教授,博士生导师,luox@seu.edu.cn.
基金项目: 国家自然科学基金资助项目(51375085).
引用本文: 谢中取,李龙,罗翔,等.液压足式机器人关节驱动器的设计、建模与实验[J].东南大学学报(自然科学版),2018,48(6):1114-1122. DOI:10.3969/j.issn.1001-0505.2018.06.019.
更新日期/Last Update: 2018-11-20