Design, Modelling and Validation of Hydraulic Servo Actuator With Passive Compliance for Legged Robots
Design, Modelling and Validation of Hydraulic Servo Actuator With Passive Compliance for Legged Robots
复制标题
腿式机器人被动柔顺液压伺服执行器的设计、建模和验证
DOI：
10.1109/access.2018.2875129
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发表时间：
2018
期刊：
影响因子：
3.9
通讯作者：
Su Bo
中科院分区：
文献类型：
--
作者：
Hua Zisen;Rong Xuewen;Li Yueyang;Li Yibin;Sun Yaru;Su Bo
液压驱动的腿式机器人在地面行走时，由于脚与地面的接触，总是会受到冲击力的作用。为了减小冲击力，提出了一种在液压作动器活塞腔中增加微型蓄能器的被动柔顺方法。新配置溢流阀和逆止阀，防止超压操作和吸入。蓄能器作为弹性元件用于减小由于冲击力引起的活塞腔压力的增加。为了验证该执行器的有效性，建立了单执行器的动态和液压联合仿真平台。仿真和实验结果表明，该驱动器在保证较高位置伺服精度的同时，具有较好的被动柔顺特性。在低带宽液压伺服阀的控制下，冲击力在研究范围内降低了30%。本文的建模方法和实验细节为腿式机器人的设计提供了有效的参考。
The hydraulic driven legged robots walking on the ground always encounter impact forces due to the contacts between feet and ground. Aiming to reduce the impact forces, a novel passive compliance method is proposed by adding a miniature hydraulic accumulator to the piston chamber of the hydraulic actuator. And the overflow valve and the check valve are newly equipped to prevent overpressure operation and suction. The accumulator as an elastic component is used to reduce the increment of piston chamber pressure due to the impact forces. To demonstrate the effectiveness of the proposed actuator, a dynamic and hydraulic co-simulation platform for a single actuator is built. Both simulation and experiment results show that the new actuator has better passive compliant characteristics while ensuring rather high position servo precision. Under the control of the low bandwidth hydraulic servo valve, the impact forces are reduced by 30% within the scope of the study. The modeling methodology and experimental details give effective references for the legged robot design.
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DOI：
10.1109/icarcv.2012.6485260
发表时间：
2012-12
期刊：
2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)
影响因子：
--
作者：
Yong Chen;Lu Cao;Yiyong Huang;Xiaoqian Chen
通讯作者：
Yong Chen;Lu Cao;Yiyong Huang;Xiaoqian Chen
影响因子：
5.2
作者：
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T. Verstraten;P. Beckerle;R. Furnemont;G. Mathijssen;B. Vanderborght;D. Lefeber
DOI：
10.5860/choice.26-5074
发表时间：
1988
期刊：
--
影响因子：
--
作者：
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通讯作者：
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影响因子：
1.6
作者：
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通讯作者：
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影响因子：
2.4
作者：
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