A Mathematical Model Including Mechanical Structure, Hydraulic and Control of LHDS. Issue 7 (20th July 2021)

• Record Type: Journal Article
• Authors: Ma, Guoliang; Ba, Kaixian; Han, Zhiwu; Jin, Zhengguo; Yu, Bin; Kong, Xiangdong
• Is Part Of: Robotica. Volume 39:Issue 7(2021)
• Page Start: 1328
• Page End: 1343
• Publication Date: 2021-07-20
• Subjects: Leg hydraulic drive system (LHDS), -- Kinematics, -- Dynamics, -- Position-based impedance control, -- Simulation model; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574720001204
• Languages: English
• ISSNs: 0263-5747

Abstract

SUMMARY: 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.