单柱液压机液压系统设计外文翻译

《单柱液压机液压系统设计外文翻译》由会员上传分享，免费在线阅读，更多相关内容在教育资源-天天文库。

1、SPEED-ADAPTEDTRAJECTORIESINTHECASEOFINSUFFICIENTYDRAULICRESSUREFORTHEFOUR-LEGGEDLARGE-SCALEWALKINGVEHICLEALDUROABSTRACTWhenoperatingwalkingmachines,onlyacoordinatedmovementofallcylindersand/ormotorscanleadtosafe,stablewalking.ThelargehydraulicallydrivenwalkingmachineALDUR

2、O,whichisinvestigatedinthispaper,hasnoexternalpowersupply,andthereforethesizeoftheon-boardhydraulicpowerpackanditsdieselengineislimitedbyitsweight.Whenmovingseveralcylinderswithhighspeed,thehydraulicsupplycanbecomeinsufficientandtheresultingtrajectoriesoffeetandplatformca

3、nbecomeunpredictable.WhentheALDUROisnearitsstabilitylimitsuchbehaviourcanleadtoinstabilityandtopplingofthesystem.Theproposedsolutionunderdiscussionhereistoobservethepositionerrorsandtimederivativesforthecylindersandbasedonthisreducethespeedwhennecessary.1.INTRODUCTIONThes

4、ysteminvestigatedinthispaperistheAnthropomorphicallyLeggedandWheeled-２１-DuisburgRobot(ALDURO).Itconsistsofaplatformof2.0mby2.2mwithacabinfortheoperatorandfourlegs,each1.8mlong.Theestimatedweightis1200kg.Itcanbeusedasaquadrupedwalkingmachine(Fig.2),andbyreplacingthetwohind

5、feetwithwheels,itcanalsobeusedasacombinedleggedandwheeledvehicle(Fig.1).Thelattercombinestheadvantagesofawalkingmachine-highmobility-withthestabilityandspeedofwheeledvehicles[2].Whenoperatinginsteepanddangerousterrain,safetyplaysanimportantrole.Itmustbeguaranteedthatthecy

6、lindersfollowthecalculatedtrajectoriesexactlysinceawrongmovementmightcausetherobottobecomeinstable.ALDURO'slegsarehydraulicallydriven,withanopenhydraulicsystem.Normally,whenplanninghydraulicsystems,lowweighthasnohighpriority[1].ForthewalkingmachineALDUROtheratiopowerperwe

7、ightwasoptimized.Fig.1:CombinedLeggedFig.2:WalkingMachineandWheeledVehicleWhileactuatingseveralcylinderssimultaneouslyormovingveryfast,thevolumeflowofthehydraulicsupplybecomesinsufficientandtheresultingmovementsuncontrollable.Theproposedsolutionunderdiscussionhereisadecre

8、aseinspeedofallcalculatedtrajectories.Thisisadmissibleaslongastherobotisstaticallystableatanymom