A Mathematical Model Including Mechanical Structure, Hydraulic and Control of LHDS

被引：3
作者：
Ma, Guoliang [1 ]
Ba, Kaixian [2 ]
Han, Zhiwu [1 ]
Jin, Zhengguo [3 ]
Yu, Bin [3 ]
Kong, Xiangdong [3 ]
机构：
[1] Jilin Univ, Minist Educ, Key Lab Bion Engn, Changchun, Peoples R China
[2] Hebei Univ Technol, Sch Mech Engn, Tianjin, Peoples R China
[3] Yanshan Univ, Sch Mech Engn, Qinhuangdao, Hebei, Peoples R China
来源：
ROBOTICA | 2021年 / 39卷 / 07期
基金：
中国国家自然科学基金;
关键词：
Leg hydraulic drive system (LHDS); Kinematics; Dynamics; Position-based impedance control; Simulation model; SIMULATION; DESIGN; ROBOT; SYSTEM; ARM;
D O I：
10.1017/S0263574720001204
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, mathematical models of kinematics, statics and inverse dynamics are derived firstly according to the mechanical structure of leg hydraulic drive system (LHDS). Then, all the above models are integrated with MATLAB/Simulink to build the LHDS simulation model, the model not only considers influence of leg dynamic characteristics on hydraulic system but also takes into account nonlinearity, variable load characteristics and other common problems brought by hydraulic system, and solves compatibility and operation time which brought by using multiple software simultaneously. The experimental results show the simulation model built in this paper can accurately express characteristics of the system.
引用
收藏
页码：1328 / 1343
页数：16
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