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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Design and energetic characterization of a liquid-propellant-powered actuator for self-powered robots
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Design and energetic characterization of a liquid-propellant-powered actuator for self-powered robots

机译：用于自供电机器人的液体推进剂致动器的设计和能量表征

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摘要

This paper describes the design of a power supply and actuation system appropriate for position or force controlled human-scale robots. The proposed approach utilizes a liquid monopropellant to generate hot gas, which is utilized to power a pneumatic-type actuation system. A prototype of the actuation system is described, and closed-loop tracking data are shown, which demonstrate good motion control. Experiments to characterize the energetic performance of a six-degree-of-freedom actuation system indicate that the proposed system with a diluted propellant offers an energetic figure of merit five times greater than battery-powered DC motors. Projections based on these experiments indicate that the same system powered by undiluted propellant would offer an energetic figure of merit in an order of magnitude greater than a comparable battery-powered DC motor actuated system.
机译：本文介绍了适用于位置或受力控制的人类规模机器人的电源和致动系统的设计。所提出的方法利用液体单推进剂产生热气，该热气被用于为气动式致动系统提供动力。描述了致动系统的原型，并显示了闭环跟踪数据，这些数据演示了良好的运动控制。表征六自由度致动系统能量性能的实验表明，所提议的带有稀释推进剂的系统提供的能量因数比电池供电的直流电动机高五倍。基于这些实验的预测表明，由未稀释推进剂驱动的同一系统将提供比同类电池供电的直流电动机驱动的系统高一个数量级的能量品质因数。

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