液压四足机器人最优负载匹配仿真及实验  

Simulation and Experiment of Optimal Load Matching for Hydraulic Quadruped Robot

作　　者：邵俊鹏[1] 刘萌萌 孙桂涛[1] SHAO Jun-peng;LIU Meng-meng;SUN Gui-tao(School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China)

机构地区：[1]哈尔滨理工大学机械动力工程学院,哈尔滨150080

出　　处：《哈尔滨理工大学学报》2020年第2期8-15,共8页Journal of Harbin University of Science and Technology

基　　金：国际科技合作专项基金(2012DFR70840)。

摘　　要：针对液压四足机器人工作效率低、响应速度差的问题,采用机器人squat步态下的关节轨迹与最优负载匹配相结合的方法进行了深入研究。建立了机器人三维模型,并进行了运动学分析,获取了机器人squat步态下的关节驱动函数。进行了机器人动力学仿真分析,获取了动力机构的关节轨迹。建立最优负载匹配,得到了机器人动力机构的最优匹配参数。最终通过AMEsim仿真与机器人样机试验对该研究方法进行了验证。结果表明,在满足负载的前提下,当供油压力取17 Mp,伺服阀空载流量取7.7 L/min,活塞直径取26 mm时的动力机构工作效率高,并且响应速度快,验证了该方法的有效性。Aiming at the problem of low efficiency and poor response speed of hydraulic quadruped robot,the method of joint trajectory and optimal load matching in robot square gait is studied in depth,the 3D model of the hydraulic quadruped robot established,and the kinematics analysis carried out,the joint driving function under the squat gait of the robot is obtained.The robot dynamics simulation analysis is carried out,and the joint trajectory of the power mechanism is obtained.The optimal matching parameters of robot dynamic mechanism are obtained by establishing optimal load matching.Finally,the idea was verified by AMEsim simulation and robot prototype test.The results show that under the condition of load,when the pressure of fuel supply is 17 Mp,the no-load flow of servo valve is 7.7 L/min and the diameter of piston is 26 mm,the working efficiency of power mechanism is high,and the response speed is fast,The effectiveness of the method is verified.

关 键 词：液压四足机器人 动力机构 关节轨迹 最优负载匹配 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]