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A Mathematical Model Including Mechanical Structure, Hydraulic and Control of LHDS

Published online by Cambridge University Press:  20 January 2021

Guoliang Ma Open the ORCID record for Guoliang Ma [Opens in a new window] ,
Kaixian Ba ,
Zhiwu Han ,
Zhengguo Jin ,
Bin Yu  and
Xiangdong Kong
Guoliang Ma
Affiliation:
The Key Laboratory of Bionic Engineering of Ministry of Education, Jilin University, Changchun, China, E-mails: mgl@stumail.ysu.edu.cn, zwhan@jlu.edu.cn
Kaixian Ba*
Affiliation:
School of Mechanical Engineering, Hebei University of Technology, Tianjing, China
Zhiwu Han
Affiliation:
The Key Laboratory of Bionic Engineering of Ministry of Education, Jilin University, Changchun, China, E-mails: mgl@stumail.ysu.edu.cn, zwhan@jlu.edu.cn
Zhengguo Jin
Affiliation:
School of Mechanical Engineering, Yanshan University, Qinhuangdao, China, E-mails: jzg@stumail.ysu.edu.cn, yb@ysu.edu.cn, xdkong@ysu.edu.cn
Bin Yu
Affiliation:
School of Mechanical Engineering, Yanshan University, Qinhuangdao, China, E-mails: jzg@stumail.ysu.edu.cn, yb@ysu.edu.cn, xdkong@ysu.edu.cn
Xiangdong Kong
Affiliation:
School of Mechanical Engineering, Yanshan University, Qinhuangdao, China, E-mails: jzg@stumail.ysu.edu.cn, yb@ysu.edu.cn, xdkong@ysu.edu.cn
*
*Corresponding author. E-mail: bkx@ysu.edu.cn
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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.

Keywords

Leg hydraulic drive system (LHDS)KinematicsDynamicsPosition-based impedance controlSimulation model
Type
Article
Information
Robotica , Volume 39 , Issue 7 , July 2021 , pp. 1328 - 1343
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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