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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Design, Analysis and Experimental Evaluation of a Gas-Fuel-Powered Actuator for Robotic Hoppers
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Design, Analysis and Experimental Evaluation of a Gas-Fuel-Powered Actuator for Robotic Hoppers

机译：机器人料斗燃气驱动器的设计，分析和实验评估

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摘要

Field robots often need to overcome obstacles multiple times their own size when exploring the environment. To address this need, we revisit a concept where a compact mechanical hopping actuator powered by gas-fuel was designed and tested. The idea is further refined, analyzed and realized in this reported study, characterized by a double-piston structure and a magnetic latch. Analysis is performed on the postcombustion dynamics to obtain the takeoff velocity of the actuator, which determines its jumping height. An experimental setup is constructed to test the design in indoor and outdoor environments. Laboratory (indoor) tests were carried out to obtain the takeoff parameters of the actuator, including the postcombustion pressure, takeoff velocity and force of the piston rod against the ground (ground reaction force). The expected high power output was observed, which justifies the actuation method for high payload applications. A takeoff velocity of 5.98 m/s was achieved at a relatively low charge pressure of propane and nitrous oxide, showing potential for higher performance at higher charge pressure to be investigated further. Finally, the outdoor experiment was performed and the actuator was demonstrated to jump 2.1 m high, with a payload of 2.43 kg and the body weight of 0.74 kg, which showed the high payload capability (∼ 3.3 times body weight) of this actuator. Experiments also showed that higher postcombustion pressure and jumping height could be achieved by varying the mixing ratios of propane and nitrous oxide, peaking at the stoichiometric ratio for complete combustion. A metric defined as was proposed as a means to compare the normalized performance of the hopping actuator against various robots with different means of power in the literature.
机译：在探索环境时，现场机器人通常需要克服自身大小几倍的障碍。为了满足这一需求，我们重新审视了一种设计和测试由气体燃料驱动的紧凑型机械跳跃致动器的概念。在此报告的研究中，该想法得到了进一步的完善，分析和实现，其特点是具有双活塞结构和磁性闩锁。对燃烧后的动力学进行分析，以获得执行器的起飞速度，从而确定其跳跃高度。构建了一个实验设置来测试室内和室外环境中的设计。进行了实验室（室内）测试，以获得执行器的起飞参数，包括燃烧后压力，起飞速度和活塞杆对地面的作用力（地面反作用力）。观察到了预期的高功率输出，这证明了用于高负载应用的驱动方法是合理的。在相对较低的丙烷和一氧化二氮充气压力下，起飞速度为5.98 m / s，这表明在更高充气压力下具有更高性能的潜力有待进一步研究。最后，进行了室外实验，并证明了执行器跳高2.1m，有效载荷为2.43kg，体重为0.74kg，这表明该执行器具有很高的有效载荷能力（约3.3倍体重）。实验还表明，通过改变丙烷与一氧化二氮的混合比（达到化学计量比的峰值）可以实现更高的燃烧后压力和跳跃高度，从而实现完全燃烧。提出了一种定义为度量的度量，以将跳变致动器的标准化性能与文献中具有不同功率手段的各种机器人进行比较。

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