外文翻譯---如何為大型的步行機(jī)器人在供能不足的情況下選擇合適的速度軌道

1、-１-2020 2020 單詞 單詞中文 中文 3500 3500 字出處 出處: Germann D, Müller J, Hiller M. Speed-Adapted Trajectories In The Case Of Insufficient Hydraulic Pressure For The Four-Legged Large-Scale Walking Vehicle ALDURO[J]. 2000.附 錄

2、AFifth Motion and Vibration Conference, MOVIC 2000, Sydney, Australia, 4. - 8. December 2000 © by University of Technology, SydneySPEED-ADAPTED TRAJECTORIESIN THE CASE OF INSUFFICIENT YDRAULIC RESSURE FOR THE FOUR-L

3、EGGED LARGE-SCALE WALKINGVEHICLE ALDURODaniel Germann, JÄorg MÄuller and Manfred HillerGerhard-Mercator-UniversitÄat {GH DuisburgFachgebiet Mechatronik, Lotharstraße 1, 47057 Duisburg, GermanyEmail: f

4、germann, mueller, hillerg@mechatronik.uni-duisburg.de ABSTRACTWhen operating walking machines, only a coordinated movement of all cylinders and/or motors can lead to safe, stable walking. The large hydraulically driven w

5、alking machine ALDURO, which is investigated in this paper, has no external power supply, and therefore the size of the on-board hydraulic power pack and its diesel engine is limited by its weight. When moving several cy

6、linders with high speed, the hydraulic supply can become insufficient and the resulting trajectories of feet and platform can become unpredictable. When the ALDURO is near its stability limit such behaviour can lead to i

7、nstability and toppling of the system. The proposed solution under discussion here is to observe the position errors and time derivatives for the cylinders and based on this reduce the speed when necessary.-３-Fig. 3: Exp

8、erimental setup2. EXPERIMENTAL SETUPThe leg of the ALDURO is anthropomorphic, i.e. it is based on the geometry and function of the human leg. The hip joint is a spherical ball joint with three degrees of freedom (d.o.f.)

9、 and the knee a revolute joint with one d.o.f. These joints are actuated with hydraulic cylinders (Fig. 4), whereas the two additional d.o.f. of the foot are passive. To make solution of the explicit inverse kinematics

10、possible we lock one of the hip cylinders. The explicit solution of the direct and inverse kinematics is shown in detail in [4]. To examine the dynamic behaviour of the leg, and to test different control schemes, an expe

11、rimental setup for a fully sized leg was developed and built (see Fig. 3). It includes all the hydraulic components that will be used on the first prototype ALDURO and is driven by a stationary hydraulic power pack in t

12、he laboratory. The experimental set-up is equipped with an open hydraulic system with a 15kW electrical motor and an axial piston pump producing a volume flow of 40 l/min at 200 bar. This is smaller than what will be us

13、ed on the real system, which will be powerd by a 27kW diesel engine. For tests with an insufficient hydraulic flow, a second set of four hydraulic cylinders (as used to move one leg) is mounted on the floor next to the

14、 test stand.An optical fieldbus for the transfer of the sensor and actuator data between the test stand and the control computer (with real-time operating system) is also installed. The hydraulic cylinders include posi

15、tion and pressure sensors that are used as controller inputs. Thus dynamic tests can be carried out to examine the co-operation between the mechanical and hydraulic components and the electronic control system.The hip p

16、late of the experimental set-up is mounted on a pair of linear bearings, and thus is mobile in vertical direction. When combined with the foot, as shown in Fig. 3, or the passive wheel used on the hind leg of the combi

17、ned legged and wheeled system, this allows loading tests on the leg while performing walking motions. Mechanical stops below the hip plate allow the foot to be lifted in the swing phase of the walking motion. The first