电动主动平衡单腿平面机器人机电设计

Vassilios K. Papantoniou
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引用次数: 28

摘要

在实验中,主动平衡的腿式机器人通过并行地完成充分分解的任务来执行复杂的控制操作,已经取得了积极的结果,但是原型机本身的性能与主动平衡概念的本质相矛盾。这些概念旨在通过利用系统固有的动态特性来改善腿式系统的动力效率。这样做的原因是利用气动和液压执行器来实现原型。这些执行器提供了高有效的功率质量比,从而促进了控制任务。然而,整个系统的效率(泵、管道、伺服阀等)仍然很差。因此,在小规模(如人体大小)能量充足的系统中直接实施控制概念是一个严重的工程问题。作者提出了一种电动主动平衡单腿平面机器的机电设计,能够以平均48w的功率需求运行,最高速度为0.3 m/秒,质量为7.5 kg。为此,实现了关节腿的原始机械设计和关节腿姿态控制。
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Electromechanical design for an electrically powered, actively balanced one leg planar robot
Experiments in which actively balanced legged robots perform complex control operations by working in parallel on adequately decomposed tasks have given positive results, but the performance of the prototypes themselves contradicts the essence of the active balance concepts. These concepts aim to ameliorate the power efficiency of the legged systems by use of the systems intrinsic dynamic properties. The reason for this is the utilization of pneumatic and hydraulic actuators for the realisation of the prototypes. These actuators provide high effective power-to-mass ratios, thus facilitating the control task. Yet, the whole system's efficiency (pumps, piping, servovalves, etc) remains poor. The direct implementation of the control concepts in small-scale (e.g. human sized) energy-sufficient systems thus represent a serious engineering problem. The authors propose an electromechanical design for an electrically powered actively balanced one-leg planar machine, capable of operating with an average 48 W power requirement, at a maximum speed of 0.3 m/sec, with 7.5 kg of mass. In order to obtain that, an original mechanical design of an articulated leg and leg attitude control are realised.<>
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