期刊文献+
共找到2篇文章
< 1 >
每页显示 20 50 100
连续电驱动四足机器人腿部机构设计与分析 被引量:20
1
作者 柏龙 龙樟 +3 位作者 陈晓红 江沛 陈锐 官渐 《机器人》 EI CSCD 北大核心 2018年第2期136-145,共10页
提出了一种四足机器人腿部的连续电驱动(即电机整周转动驱动腿部实现摆转跨步动作)方案,设计了一种具有由切比雪夫机构、五杆机构组成的2自由度双曲柄复合连杆机构的机器人腿部结构.分析了动物的足端轨迹特性,采用轨迹圆滑、无突变、导... 提出了一种四足机器人腿部的连续电驱动(即电机整周转动驱动腿部实现摆转跨步动作)方案,设计了一种具有由切比雪夫机构、五杆机构组成的2自由度双曲柄复合连杆机构的机器人腿部结构.分析了动物的足端轨迹特性,采用轨迹圆滑、无突变、导数连续的椭圆曲线规划了机器人足端运动轨迹.以规划的足端轨迹再现为优化目标,采用遗传算法与fmincon函数内点法计算得到了腿部机构杆长的最佳尺寸.在此基础上,建立了机器人仿真模型,通过Adams仿真分析了机器人腿部机构的足端运动特性,并研制了腿部结构性能测试平台.完成了单腿足端运动轨迹跟踪实验,验证了腿部结构设计方案的可行性. 展开更多
关键词 连续电驱动 四足机器人 腿部机构 优化设计 多连杆机构
原文传递
A new braking force distribution strategy for electric vehicle based on regenerative braking strength continuity 被引量:10
2
作者 廉宇峰 田彦涛 +1 位作者 胡蕾蕾 尹诚 《Journal of Central South University》 SCIE EI CAS 2013年第12期3481-3489,共9页
Regenerative braking was the process of converting the kinetic energy and potential energy, which were stored in the vehicle body when vehicle braked or went downhill, into electrical energy and storing it into batter... Regenerative braking was the process of converting the kinetic energy and potential energy, which were stored in the vehicle body when vehicle braked or went downhill, into electrical energy and storing it into battery. The problem on how to distribute braking forces of front wheel and rear wheel for electric vehicles with four-wheel drive was more complex than that for electric vehicles with front-wheel drive or rear-wheel drive. In this work, the frictional braking forces distribution curve of front wheel and rear wheel is determined by optimizing the braking force distribution curve of hydraulic proportional-adjustable valve, and then the safety brake range is obtained correspondingly. A new braking force distribution strategy based on regenerative braking strength continuity is proposed to solve the braking force distribution problem for electric vehicles with four-wheel drive. Highway fuel economy test(HWFET) driving condition is used to provide the speed signals, the braking force equations of front wheel and rear wheel are expressed with linear equations. The feasibility, effectiveness, and practicality of the new braking force distribution strategy based on regenerative braking strength continuity are verified by regenerative braking strength simulation curve and braking force distribution simulation curves of front wheel and rear wheel. The proposed strategy is simple in structure, easy to be implemented and worthy being spread. 展开更多
关键词 braking force distribution regenerative braking electric vehicle four-wheel drive regenerative braking strengthcontinuity
下载PDF
上一页 1 下一页 到第
使用帮助 返回顶部