液压驱动双足机器人运动系统的设计及实现

Design and implementation of a hydraulic actuated biped robot motion system

提出了一种具有负重能力的8自由度液压驱动双足机器人运动系统。与具有相同负重能力的电驱动双足机器人相比,该机器人体积小、负重能力强、动态性好。由于机器人在空载的情况下,质量主要集中在腿部,提出了一种机器人动态步行时,对质量分布没有限制的机器人侧向平面内保持动态平衡的控制方法,克服了传统倒立摆模型要求忽略机器人腿部质量这一约束,扩大了其适用范围。在多体动力学仿真软件ADAMS环境下对仿真模型进行负重仿真试验和物理样机的空载试验,验证了该液压驱动双足机器人运动系统的有效性。

The hydraulic actuated motion system with payload capacity is proposed. Comparing w capacity, the robot developed in this research has of a biped robot, which has 8 degrees of freedom, ith the motor driving robots with the same payload the advantages of smaller volume and better dynamic characteristics. For that the primary mass is concentrated on the legs when the robot is idle load, a dynamic balance control method in the coronal plane is proposed. Unlike the inverted pendulum model, this control method has no constraint on the mass distribution of the biped robot, which enlarged the application range. The effectiveness of this hydraulic actuated motion system of the biped robot is demonstrated by simulation experiment on Automatic Dynamic Analysis of Mechanical System （ADAMS） and physical prototype idle load experiments.