드라이브 ㆍ 컨트롤 (Journal of Drive and Control)

  • 제13권2호
  • /
  • Pages.26-33
  • /
  • 2016
  • /
  • 2671-7972(pISSN)
  • /
  • 2671-7980(eISSN)
유공압건설기계학회 (The Korean Society for Fluid Power and Construction Equipment)
권호 표지
DOI QR코드

DOI QR Code

보행 로봇을 위한 서보밸브 구동 유압 액추에이터의 특성 분석

A Study of Hydraulic Actuator Based On Electro Servo Valve For A Walking Robot

  • Cho, Jung San (Department of Robot, Korea Institute of Industrial Technology)
  • 투고 : 2016.01.28
  • 심사 : 2016.05.11
  • 발행 : 2016.06.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

This paper describes of a mathematical and real experimental analysis for a walking robot which uses servo valve driven hydraulic actuator. Recently, many researchers are developing a walking robot based on hydraulic systems for the difficult and dangerous missions such as walking in the rough terrain and carrying a heavy load. In order to design and control a walking robot, the characteristics of the hydraulic actuators in the joint through the view point of walking such as controllability and backdrivability must be analyzed. A general mathematical model was used for analysis and proceeds to position and pressure changes characteristic of the input and backdrivability experiment. The result shows the actuator is a velocity source, had a high impedance, the output stiffness is high in contact with the rigid external force. So stand above the controller and instruments that complement the design characteristics can be seen the need to apply a hydraulic actuator in walking robot.

키워드

참고문헌

  1. M. Raibert, K. Blankespoor, G. Nelson, and R. Playter, "Bigdog, the rough-terrain quadruped robot," in Proc. International Federation of Automatic Control, 10822-10825, (2008)
  2. T. Boaventura, C. Semini, J. Buchli, M. Frigerio, M. Focchi, and D. G. Caldwell, "Dynamic torque control of a hydraulic quadruped robot," in Proc. IEEE International Conference on Robotics and Automation, 1889-1894, (2012).
  3. X. Rong, Y. Li, J. Ruan, and B. Li, "Design and simulation for a hydraulic actuated quadruped robot", Journal of Mechanical Science and Technology, 26(4), 1171-1177, (2012). https://doi.org/10.1007/s12206-012-0219-8
  4. J. T. Kim, J. Cho, B. Y. Park, S. Park, and Y. Lee, "Experimental investigation on the design of leg for a hydraulic actuated quadruped robot", In International Symposium on Robotics, 1-5, (2013).
  5. J. Cho, J. T. Kim, S. Park, Y. Lee, and K. Kim, "JINPOONG, posture control for the external force." International Symposium on Robotics, 1-2, (2013).
  6. S. Seok, A. Wang, D. Otten, and S. Kim, "Actuator Design for High Force Proprioceptive Control in Fast Legged Locomotion," in Proc. IEEE International Conference on Intelligent Robotsand Systems, 1970-1975, (2012).
  7. M. Hutter, C. D. Remy, M. A. Hoepflinger, and R. Siegwart, "High compliant series elastic actuation for the robotic leg ScarlETH", In Proc. of the International Conference on Climbing and Walking Robots, (2011).
  8. J. Cho, S. Park, and K. Kim. "Design of mechanical stiffness switch for hydraulic quadruped robot legs inspired by equine distal forelimb." Electronics Letters 51(1), 33-35, (2014). https://doi.org/10.1049/el.2014.3374
  9. F. M. White, "Fluid mechanics, wcb", ed: McGraw-Hill, Boston, (1999).
  10. H. E. Merritt, "Hydraulic control systems", John Wiley & Sons, (1967).
  11. S. LeQuoc, R. Cheng, and A. Limaye, "Investigation of an electrohydraulic servovalve with tuneable return pressure and drain orifice," Journal of dynamic systems, measurement, and control, 109(3), 276-285, (1987). https://doi.org/10.1115/1.3143855
  12. Stephens, Benjamin J., and Christopher G. Atkeson. "Dynamic balance force control for compliant humanoid robots." Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on. IEEE, 2010.
  13. J. E. Bobrow and J. Desai, "A high torque to weight ratio robot actuator," Robotica, 13(2), 201-208, (1995). https://doi.org/10.1017/S0263574700017719
  14. D. C. Karnopp, D. L. Margolis, and R. C. Rosenberg, "System Dynamics: Modeling, Simulation, and Control of Mechatronic Systems: Modeling, Simulation, and Control of Mechatronic Systems", John Wiley & Sons, (2012).
  15. S. R. Lee, J. Cho, and S. Park, "Position -based impedance control of a hydraulic actuator for a walking Robot", In Proceedings of International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 781-788, (2012).

피인용 문헌

  1. 고출력 및 경량 협동로봇 위한 케이블-유압 구동 3자유도 매니퓰레이터 설계 및 구현 vol.14, pp.3, 2019, https://doi.org/10.7746/jkros.2019.14.3.179