腿式机器人液压柔性关节的设计与实验评价

2019 International Conference on Advances in Construction Machinery and Vehicle Engineering (ICACMVE) Pub Date : 2019-05-01 DOI:10.1109/ICACMVE.2019.00010

Jinlin Jiang, Heng Cao, Yu Wang, Jun Zhu, Xiaolu Wang, Xinbin Zhang

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引用次数: 0

摘要

为了满足腿式机器人在不同工况下的柔性控制和变刚度要求，提出了一种液压柔性关节。将用于位置闭环控制的比例流量阀和用于输出力调节的反比例压力阀串联在液压接头中，采用力-位混合控制。提出并分析了系统的详细设计和控制方法。实验结果表明，该液压柔性关节不仅可以实现高精度的位置控制，而且可以在较宽的范围内比例调节刚度。当施加力和位移约束时，力-位混合控制下液压柔性关节具有良好的性能。

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Design and Experimental Evaluation of a Hydraulic Flexible Joint for Legged Robots

In this paper, a hydraulic flexible joint for legged robots is presented to meet the requirements of flexible control and variable stiffness in varies of conditions. A proportional flow valve for closed-loop position control and an inverse proportional pressure valve for output force regulation are combined in series in the hydraulic joint, and force-position hybrid control is adopted for this joint. The detailed design and control method are proposed and analyzed. The experiment results show that the hydraulic flexible joint not only can realize the high accurate position control, but also can proportionally adjust the stiffness in a wide range. When the force and displacement constraints are applied, the performance of hydraulic flexible joint is good under the force-position hybrid control.

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来源期刊

2019 International Conference on Advances in Construction Machinery and Vehicle Engineering (ICACMVE)

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