Design And Research Of A Leg For Legged Robot Based On Hydraulic Actuated

Robots are typical production of the mechanical-electron hydraulic technology, have widely applied in industrial production and daily life nowadays. The robots of leg type just had been invented forty years before, however, are becoming major development direction of robotics with their unique adaptation and humanoid.The significant characteristic of legged robots is a well adaptation of environment; make them apply in complex regions such as mountainous. Due to hydraulics actuation have higher ratio of power with mass than electric actuation and pneumatic, the legged robots have a practical value after use hydraulics actuation. With the help of the relevance references, the paper designed a leg of the legged robot actuates by hydraulics, design its mechanism structures and hydraulics system, and used the sliding mode control to researched the motion control of leg through built the dynamics model, simulated the leg's motion with software, set up the experiment platform of the leg, made some experiments at last.Refer to the structure proportional of leg in animals, it had presented the mechanism designed scheme of the leg of the legged robot, and designed the machinery parts with this scheme. With the characteristic of hydraulics drive and the reality situation of legged robot, it had proposed the project of the hydraulics system, and calculated the parameters and type of hydraulics parts.A practical dynamics model of the leg is proposed through used the Lagrange equation to analyze the leg and built its model. With the control theory of hydraulics, it built the model of hydraulics system. Due to those two models, they formed the entitle model of the leg for the robot. It applied the sliding model variable structure control theory to research the motion control of leg with the character of the entitle model. It is used the Matlab software to analyze the motion of leg for legged robot through the designed control algorithms and reality status of legged robot. After that, it had established the experiment platform of the leg for the legged robot, and designed the hardware of the controller, to fulfill the reality test of the leg for the legged robot.