数字液压驱动技术在仿生足式机器人中的应用  

The implication of digital hydraulic drive technology in bionic legged robot

作　　者：白晶[1] 秦现生[1] 伍彬艺[1] 

机构地区：[1]西北工业大学机电学院,陕西西安710072

出　　处：《机械设计与制造工程》2015年第2期56-58,共3页Machine Design and Manufacturing Engineering

基　　金：国家自然科学基金资助项目(51275413)

摘　　要：仿生足式机器人关节普遍采用传统液压驱动方式,由于其能量效率不高,无法满足机器人高负载能力和自主连续工作时间的应用要求。在对机器人关节运动进行分析的基础上,提出了一种基于数字液压的关节驱动系统的实现方法,并对其所需流量和能量效率进行分析和仿真。结果表明:与传统液压相比,数字液压能减少关节驱动系统所需流量,从而提高能量效率。The traditional hydraulic drive method is generally used in bionic robot joint. Its energy efficiency is low,and unable for meeting the application requirements of robot high load capacity and long continuous working time independent. It analyzes the joint motion of bionic legged robot,presents a method to realize the joint driving system through the use of digital hydraulic,and simulates the required flow and energy efficiency of this system,compares with the traditional hydraulic driving system. The result shows that the digital hydraulic can reduce flow rate required and improve the energy efficiency.

关 键 词：仿生足式机器人 关节驱动 数字液压 能量效率 

分 类 号：TP224[自动化与计算机技术—检测技术与自动化装置]