Title :
Structure analysis of hydraulic jumping robot
Author :
Bin, Chen ; Zhongcai, Pei ; Zhiyong, Tang ; Xiaoqiang, Guo ; Haixiao, Zhong
Author_Institution :
Sch. of Autom. Sci. & Electr. Eng., Beihang Univ., Beijing, China
Abstract :
This paper focuses on the design of a new hydraulic jumping robot. This robot platform has four legs and can execute some highly dynamic tasks, like walking, trotting, galloping and especially jumping. Hydraulic actuators have been chosen to drive active joints in order to meet the performance requirements of the robot for torque, compactness, velocity, impact resistance and control bandwidth. The main research work aims at the design of robot structure, descriptions of geometry relationships, parameters selection and implementation of jumping movement. The evaluations and analyses of the robot have finished based on the simulation results using AMESim software. These simulation analyses will greatly promote the later research work.
Keywords :
design engineering; hydraulic actuators; hydraulic drives; legged locomotion; robot dynamics; AMESim software; design; galloping robot; hydraulic actuators; hydraulic drives; hydraulic jumping robots; impact resistance; robot platform; torque; trotting robot; velocity; walking robot; Acceleration; Hip; Joints; Kinematics; Knee; Legged locomotion; AMESim; hydraulic actuation; jumping robot; mechanical design; simulation model;
Conference_Titel :
Fluid Power and Mechatronics (FPM), 2011 International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-8451-5
DOI :
10.1109/FPM.2011.6045864