Design, modeling and experiment of hydraulic legged robot joint

被引：2
|
作者：
Xie Z. [1 ]
Li L. [1 ]
Luo X. [1 ]
Ma D. [1 ]
Xu Z. [1 ]
机构：
[1] School of Mechanical Engineering, Southeast University, Nanjing
来源：
Luo, Xiang (luox@seu.edu.cn) | 2018年 / Southeast University卷 / 48期
关键词：
Joint actuator; Legged robot; Modeling; Sealing;
D O I：
10.3969/j.issn.1001-0505.2018.06.019
中图分类号：
学科分类号：
摘要：
A rotary hydraulic joint driver with multiple seals was designed. Firstly, the parameters of the joint actuator and the dynamic seals were designed based on the design requirement. Then, the mathematical model of the actuator was built to obtain the transfer function of the electro-hydraulic position servo system with joint driver. And the stability of the system was analyzed. The system amplitude margin is 22.3 dB and the phase margin is 88.4°. The pole of the system was analyzed, the transfer function of the system was simplified and the optimal PID parameter was designed. Finally, the performance test and verification experiments of the joint drive system were carried out, and the bandwidth, the sealing efficiency of the joint actuator and the effects of robot walking under suspended and grounded conditions were tested. The results show that at the rated pressure 10 MPa, the system bandwidth can reach 5.6 Hz, the sealing efficiency of the driver was above 70%. Thus, the design of the joint actuator has the advantages of large bandwidth and good sealing effect, meeting the demands of high-speed walking of the legged robot. © 2018, Editorial Department of Journal of Southeast University. All right reserved.
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页码：1114 / 1122
页数：8
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