中国机械工程2016，Vol.27Issue(18)：2458-2466,9.DOI:10.3969/j.issn.1004-132X.2016.18.008
四足机器人液压驱动单元变刚度和变阻尼负载特性的模拟方法
Simulation Method of Variable Stiffness and Damping Load Characteristics on Hydraulic Drive Unit of a Quadruped Robot
摘要
Abstract
The position control system mathematic and simulation model of HDU was established by the mechanism modeling method.A variable load stiffness and load damping characteristics simula-tion method was derived through the position control loop as controller inner loop,considering the dy-namic characteristics of the stiffness and the load damping under different environment structures. The simulation model for load characteristics was established.Then,the experimental test of simula-tion method was conducted on the HDU performance test platform.During the test,the stiffness,un-der the ramp-step and sinusoidal load force,and the characteristics of load with varied damping were researched.The research results indicate that the method designed herein may well simulate the varia-tions of load stiffnesses,the variations of load dampings and even the coinstantaneous variations of load stiffness and load damping characteristics.关键词
四足机器人/液压驱动单元/变刚度阻尼负载特性/负载特性模拟Key words
quadruped robot/hydraulic drive unit(HDU)/variable load stiffness and load damp-ing/load characteristics simulation分类
机械制造引用本文复制引用
俞滨,巴凯先,王佩,吴柳杰,孔祥东..四足机器人液压驱动单元变刚度和变阻尼负载特性的模拟方法[J].中国机械工程,2016,27(18):2458-2466,9.基金项目
国家自然科学基金资助项目(51605417) （51605417）
流体动力与机电系统国家重点实验室开放基金课题资助项目(GZKF-201502) （GZKF-201502）
燕山大学博士基金资助项目(B930) （B930）
