Design and Control of a Hydraulic Hexapod Robot with a Two-Stage Supply Pressure Hydraulic System
This paper focuses on the system design and control strategies of a hydraulic hexapod robot (HHR) ZJUHEX01 with a two-stage supply pressure hydraulic system (TSS). Firstly, a brief introduction is given, including the mechanical structure, the onboard hydraulic system, and the control system archite...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-04-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/10/5/305 |
| _version_ | 1827668310344335360 |
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| author | Ziqi Liu Bo Jin Junkui Dong Shuo Zhai Xuan Tang |
| author_facet | Ziqi Liu Bo Jin Junkui Dong Shuo Zhai Xuan Tang |
| author_sort | Ziqi Liu |
| collection | DOAJ |
| description | This paper focuses on the system design and control strategies of a hydraulic hexapod robot (HHR) ZJUHEX01 with a two-stage supply pressure hydraulic system (TSS). Firstly, a brief introduction is given, including the mechanical structure, the onboard hydraulic system, and the control system architecture. Secondly, the kinematics model and hydraulic system model are built in preparation for the controller design. Then a sliding mode repetitive controller (SMRC) for the separate meter in and separate meter out (SMISMO) hydraulic system is proposed, as well as the valve configuration, to help HHR get better control performance and smaller tracking errors. Furthermore, a high order sliding mode differentiator (HOSMD) is developed to obtain the joint angular velocity and acceleration. Finally, the ADAMS and MATLAB/Simulink co-simulation model is established to verify the effectiveness of the control strategy. Also, the energy consumption of TSS is compared with that of one-stage supply pressure hydraulic system (OSS) to show a great energy-saving effect of 51.94%. |
| first_indexed | 2024-03-10T03:33:16Z |
| format | Article |
| id | doaj.art-e393e19f05f841dd8873f17e58d51a01 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-10T03:33:16Z |
| publishDate | 2022-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-e393e19f05f841dd8873f17e58d51a012023-11-23T11:52:03ZengMDPI AGMachines2075-17022022-04-0110530510.3390/machines10050305Design and Control of a Hydraulic Hexapod Robot with a Two-Stage Supply Pressure Hydraulic SystemZiqi Liu0Bo Jin1Junkui Dong2Shuo Zhai3Xuan Tang4State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, ChinaState Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, ChinaState Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, ChinaState Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, ChinaState Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, ChinaThis paper focuses on the system design and control strategies of a hydraulic hexapod robot (HHR) ZJUHEX01 with a two-stage supply pressure hydraulic system (TSS). Firstly, a brief introduction is given, including the mechanical structure, the onboard hydraulic system, and the control system architecture. Secondly, the kinematics model and hydraulic system model are built in preparation for the controller design. Then a sliding mode repetitive controller (SMRC) for the separate meter in and separate meter out (SMISMO) hydraulic system is proposed, as well as the valve configuration, to help HHR get better control performance and smaller tracking errors. Furthermore, a high order sliding mode differentiator (HOSMD) is developed to obtain the joint angular velocity and acceleration. Finally, the ADAMS and MATLAB/Simulink co-simulation model is established to verify the effectiveness of the control strategy. Also, the energy consumption of TSS is compared with that of one-stage supply pressure hydraulic system (OSS) to show a great energy-saving effect of 51.94%.https://www.mdpi.com/2075-1702/10/5/305hydraulic hexapod robotsliding mode repetitive controlhigh-order sliding mode differentiatorenergy-saving |
| spellingShingle | Ziqi Liu Bo Jin Junkui Dong Shuo Zhai Xuan Tang Design and Control of a Hydraulic Hexapod Robot with a Two-Stage Supply Pressure Hydraulic System Machines hydraulic hexapod robot sliding mode repetitive control high-order sliding mode differentiator energy-saving |
| title | Design and Control of a Hydraulic Hexapod Robot with a Two-Stage Supply Pressure Hydraulic System |
| title_full | Design and Control of a Hydraulic Hexapod Robot with a Two-Stage Supply Pressure Hydraulic System |
| title_fullStr | Design and Control of a Hydraulic Hexapod Robot with a Two-Stage Supply Pressure Hydraulic System |
| title_full_unstemmed | Design and Control of a Hydraulic Hexapod Robot with a Two-Stage Supply Pressure Hydraulic System |
| title_short | Design and Control of a Hydraulic Hexapod Robot with a Two-Stage Supply Pressure Hydraulic System |
| title_sort | design and control of a hydraulic hexapod robot with a two stage supply pressure hydraulic system |
| topic | hydraulic hexapod robot sliding mode repetitive control high-order sliding mode differentiator energy-saving |
| url | https://www.mdpi.com/2075-1702/10/5/305 |
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