摘要
采用液压能代替传统的电能驱动机器人的功率密度高、控制算法简单,输出转矩较大,负载能力强。以液压四足机器人为参考对象,利用SolidWorks建立四足机器人的三维模型,并利用MATLAB,ADAMS搭建联合仿真平台,采用联合仿真的方法研究其在对角(Trot)步态行走过程中步态参数对液压四足机器人关节驱动力的影响,通过参数优化使得关节驱动力对液压系统的影响最小,从而能够实现四足机器人的稳定行走,同时,也为四足机器人液压系统设计提供了理论分析依据。
Using hydraulic energy instead of traditional electric energy to drive the robot has high power density,simple control algorithm,large output torque and strong load capacity.This paper takes the hydraulic quadruped robot as the reference object,uses SolidWorks to establish a three-dimensional model of the quadruped robot,and uses MATLAB and ADAMS to build a cosimulation platform.Co-simulation method is used to study the influence of the gate parameters on the joint driving force of the hydraulic quadruped robot in the diagonal(Trot)gait walking process.Through parameter optimization,make the joint driving force have the smallest influence on the hydraulic system,so as to realize stable walking of the quadruped robot.It also provides theoretical analysis for the design of the quadruped robot hydraulic system.
作者
左鹏
吴浔炜
唐倩倩
Zuo Peng;Wu Xunwei;Tang Qianqian(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200082,China)
出处
《农业装备与车辆工程》
2021年第4期127-131,共5页
Agricultural Equipment & Vehicle Engineering
