基于两级压力系统的六足机器人节能液压系统用于石油供应
Junkui Dong1, Bo Jin2,3, Ziqi Liu4
1School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, China.
Biomimetics (Basel, Switzerland)
|March 26, 2025
概括
与传统系统相比,用于液压六足机器人 (HHR) 的新型两级压力系统 (TPS) 能降低28.8%的能源消耗. 这种创新方法通过调整压力以适应执行器负载来提高能源效率,从而最大限度地减少能源浪费.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
- 流体动力系统 流体动力系统
背景情况:
- 液压六足机器人 (HHR) 传统上使用一级压力系统 (OPS).
- OPS可能会遭受显著的压缩损失,从而降低整体能源效率.
- 哺乳动物的能源供应机制为更高效的流体动力系统提供了灵感.
研究的目的:
- 为HHRs提出和评估一种新的两级压力系统 (TPS).
- 通过减少压力控制损失来提高HHR的能源效率.
- 调查TPS对控制性能的影响.
主要方法:
- 开发一个具有高压和低压油供应的TPS.
- 实施单独计入和单独计出 (SMISMO) 控制策略.
- 对HHR能量传输,动力学和液压系统模型的分析.
- 通过模拟和实验测试进行验证.
主要成果:
- 与OPS相比,TPS实现了288.8%的能源消耗降低.
- 通过根据执行器负载切换油压,TPS有效地降低了压力损失.
- 实验和模拟结果验证了节能性能.
- 运输安全系统表明需要加强控制性能.
结论:
- 拟议的TPS显著提高了HHRs的能源效率.
- 适应式压力切换是最大限度地减少液压系统中的能源浪费的关键.
- 为了实施TPS,需要进一步研究先进的控制策略.
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