【正文】 s legs are hydraulically driven, with an open hydraulic system. Normally, when planning hydraulic systems, low weight has no high priority [1]. For the walking machine ALDURO the ratio power per weight was optimized.Fig. 1: Combined Legged Fig. 2: Walking Machineand Wheeled VehicleWhile actuating several cylinders simultaneously or moving very fast, the volume flow of the hydraulic supply bees insufficient and the resulting movements proposed solution under discussion here is a decrease in speed of all calculated trajectories. This is admissible as long as the robot is statically stable at any moment. By observing the position errors of the cylinders and their time derivatives, a decision is taken on whether to decrease or increase the speed along the trajectories. To ensure that all movements are influenced simultaneously, the modeltime, upon which all calculations depend, is slowed down. Thus we can guarantee that legs and platform can and do follow the prescribed trajectories. This strategy is being tested on a virtual model of the ALDURO and is being tested on a virtual model of the ALDURO and a test stand in the laboratory,consisting of a single leg in scale 1:1, giving very good results.Fig. 3: Experimental setup2. EXPERIMENTAL SETUPThe leg of the ALDURO is anthropomorphic, . it is based on the geometry and function of the human leg. The hip joint is a spherical ball joint with three degrees of freedom (.) and the knee a revolute joint with one . These joints are actuated with hydraulic cylinders (Fig. 4), whereas the two additional . of the foot are passive. To make solution of the explicit inverse kinematics possible we lock one of the hip cylinders. The explicit solution of the direct and inverse kinematics is shown in detail in [4]. To examine the dynamic behaviour of the leg, and to test different control schemes, an experimental setup for a fully sized leg was developed and built (see Fig. 3). It includes all the hydraulic ponents that will be used on the first prototype ALDURO and is driven by a stationary hydraulic power pack in the laboratory. The experimental setup is equipped with an open hydraulic system with a 15kW electrical motor and an axial piston pump producing a volume flow of 40 l/min at 200 bar. This is smaller than what will be used on the real system, which will be powerd by a 27kW diesel engine. For tests with an insufficient hydraulic flow, a second set of four hydraulic cylinders (as used to move one leg) is mounted on the floor next to the test stand.An optical fieldbus for the transfer of the sensor and actuator data between the test stand and the control puter (with realtime operating system) is also installed. The hydraulic cylinders include position and pressure sensors that are used as controller inputs. Thus dynamic tests can be carried out to examine the cooperation between the mechanical and hydraulic ponents and the electronic control system.The hip plate of the experimental setup is mounted on a pair of linear bearings, and thus is mobile 。at {GH DuisburgFachgebiet Mechatronik, Lotharstra223。org M196。參 考 文 獻(xiàn)1． 章宏甲，黃誼． 液壓傳動． 北京：機(jī)械工業(yè)出版社，1998，第1版2． 徐灝． 機(jī)械設(shè)計手冊（第5卷）． 北京：機(jī)械工業(yè)出版社，1992 ，第1版 3． 佚名． GE系列液壓閥． 上海：上海高行液壓件長，20034． 鄭叔芳，吳曉琳． 機(jī)械工程測量學(xué)． 北京：科學(xué)出版社，1999，第1版5． 成大光． 機(jī)械設(shè)計手冊． 北京：化學(xué)工業(yè)出版社，19936． 黎啟柏． 液壓元件手冊． 北京：冶金工業(yè)出版社，2000　7． Theissen H. Simnlation Von，Hydraulischen Systement mit langen Rohrleitungen，O+P. 30，Nr3. 1986附 錄 AFifth Motion and Vibration Conference, MOVIC 2000, Sydney, Australia, 4. 8. December 2000 169。導(dǎo)師淵博的知識，開放的思維方式，豐富的實踐經(jīng)驗，孜孜不倦的治學(xué)精神，提供的寬松的學(xué)習(xí)環(huán)境，使學(xué)生受益非淺，并將影響、鞭策和激勵作者今后的工作和學(xué)習(xí)，學(xué)生在學(xué)業(yè)上的收獲的同時，也從導(dǎo)師領(lǐng)悟到了許多為人處世的道理，感激之情，難于言表。本畢業(yè)設(shè)計論文資料均為近幾年一本二本院校答辯通過的設(shè)計資料,CAD圖紙清晰準(zhǔn)確,有極高的參考價值.資料分享地址 交流設(shè)計 Q_Q號414951605致 謝非常幸運，能夠在學(xué)風(fēng)樸實厚重的南昌航空工業(yè)學(xué)院度過一段對人生至關(guān)重要的學(xué)習(xí)時光，更幸運的是，能夠從師于學(xué)識淵博、熱心的師長，結(jié)識優(yōu)秀、熱心的同窗。在這忙碌的三個月中，通過對各種相關(guān)資料的查閱，更加牢固地掌握了所學(xué)的專業(yè)知識，更多的了解了當(dāng)今科學(xué)前沿的發(fā)展情況，大大地拓寬了知識面。4．液壓缸的結(jié)構(gòu)設(shè)計參考了其他油缸的設(shè)計思路，并在此基礎(chǔ)上做了很多改進(jìn)。3．選擇了以集成塊作為聯(lián)接方式來進(jìn)行系統(tǒng)的裝配。2．油箱及各主要附件的選擇均以系統(tǒng)的要求為標(biāo)準(zhǔn)?，F(xiàn)將有關(guān)總結(jié)如下：1．液壓系統(tǒng)的設(shè)計計算。