Procedures of preparation of numerical analysis,consisting in a simulation of cooperation of three different media: steel,liquid and gas undergoes dynamic load were discussed.Modelling of the initial static load of th...Procedures of preparation of numerical analysis,consisting in a simulation of cooperation of three different media: steel,liquid and gas undergoes dynamic load were discussed.Modelling of the initial static load of the mechanical system was presented.By using the MSC.Software products the following exemplary computer simulations were made: dynamic load impact on the hydraulic leg as well as effectiveness of the hydraulic leg protection against overload with help of gas accumulator.展开更多
A prototype of hydraulically powered quadruped robot is presented. The aim of the research is to develop a versatile robot platform which could travel fleetly in outdoor terrain with long time of en- durance and high ...A prototype of hydraulically powered quadruped robot is presented. The aim of the research is to develop a versatile robot platform which could travel fleetly in outdoor terrain with long time of en- durance and high load carrying ability. The current version is 1. lm long and 0.48m wide, and weights about 150kg. Each leg has four rotational joints driven by hydraulic cylinders and one pas- sive translational joint with spring. The torso carries the control system and the power system. A no- vel control algorithm is developed based on a Spring-Loaded Inverted Pendulum model and the prin- ciple of joint function separation. The robot can not only cross a 150mm high obstacle in static gait and trot at 2.5km/h and l km/h on the level-ground and 10°sloped-terrain respectively, but also au- tomatically keep balanced under lateral disturbance. In this paper, the mechanical structure and control systems are also discussed. Simulations and experiments are carried out to validate the design and algorithms.展开更多
文摘Procedures of preparation of numerical analysis,consisting in a simulation of cooperation of three different media: steel,liquid and gas undergoes dynamic load were discussed.Modelling of the initial static load of the mechanical system was presented.By using the MSC.Software products the following exemplary computer simulations were made: dynamic load impact on the hydraulic leg as well as effectiveness of the hydraulic leg protection against overload with help of gas accumulator.
基金Supported by the National High Technology Research and Development Programme of China(No.2011AA040701)
文摘A prototype of hydraulically powered quadruped robot is presented. The aim of the research is to develop a versatile robot platform which could travel fleetly in outdoor terrain with long time of en- durance and high load carrying ability. The current version is 1. lm long and 0.48m wide, and weights about 150kg. Each leg has four rotational joints driven by hydraulic cylinders and one pas- sive translational joint with spring. The torso carries the control system and the power system. A no- vel control algorithm is developed based on a Spring-Loaded Inverted Pendulum model and the prin- ciple of joint function separation. The robot can not only cross a 150mm high obstacle in static gait and trot at 2.5km/h and l km/h on the level-ground and 10°sloped-terrain respectively, but also au- tomatically keep balanced under lateral disturbance. In this paper, the mechanical structure and control systems are also discussed. Simulations and experiments are carried out to validate the design and algorithms.
