高带宽线性液压作动器在足式机器人中的电子实现

G. Abdulmalek, A. Ammounah, N. Ait Oukfroukh, S. Alfayad, S. Mammar
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引用次数: 0

摘要

-电液致动器(EHA)广泛应用于各个领域,包括但不限于人形机器人、工业致动器、假肢、康复设备、航空航天等。腿式机器人和机器人系统的发展必须考虑高动力学和宽带宽。由于其大带宽,电液伺服阀(EHSV)比传统的电液比例阀具有很大的优势。然而,一些EHSVs的电气特性可能使其难以正常工作。为了提高基于ehv驱动系统的动态性能,本研究提出了一种新的电子驱动器拓扑结构。使用Matlab-Simulink中的Simscape工具箱的液压、电气和机械组件来验证形成所提出的驱动器设计基础的理论研究。最后,对某实验室液压系统试验台的实验数据进行了分析。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Electronic Implementation of High Bandwidth Linear Hydraulic Actuator for Legged Robot’s Applications
—The Electro-Hydraulic Actuator (EHA) is widely used in various fields, including but not limited to humanoid robotics, industrial actuators, prosthetics, rehabilitation equipment, and aeronautics. The development of legged robots and robotic systems must consider high dynamics and wide bandwidth. Due to their large bandwidth, electro-hydraulic servo-valves (EHSV) provide a substantial advantage over traditional electro-hydraulic proportional valves. However, some EHSVs' electrical properties can make it difficult to function correctly. To enhance the dynamic performance of EHSV-based actuation systems, this research suggests a novel electronic driver topology. The hydraulic, electrical, and mechanical components of the Simscape a toolbox in Matlab-Simulink is used to verify the theoretical study that forms the basis of the proposed driver design. Finally, experimental data from a hydraulic system test bench in a lab are acquired.
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