项目名称: 基于仿生能量流传递与生物酶催化的移动机器人高效率液压驱动系统设计
项目编号: No.51205400
项目类型: 青年科学基金项目
立项/批准年度: 2013
项目学科: 机械工程学科
项目作者: 杨军宏
作者单位: 中国人民解放军国防科学技术大学
项目金额: 25万元
中文摘要: 负载能力有限已成为制约移动机器人实用化的"瓶颈"问题,而液压驱动系统的功率密度是提高负载能力的决定性因素,从能量流仿生的视角解决液压能量的合理分配和高效利用难题是提升系统功率密度的有效途径之一。本项目针对移动机器人液压系统高功率密度化的现实需求,在系统能耗分布基础上,模仿生物体能量流多能级和分布式的特点,提出以能量匹配为目标的液压系统设计准则,利用生物酶催化产生的瞬间增压及各层级能量协调控制方法,达到提高液压系统能量利用效率的目的。本项目围绕移动机器人单泵源-多执行器液压系统的能量传递和效率优化过程,拟解决以下关键科学问题:(1)单泵-多执行器液压系统能量耗损机理;(2)基于仿生能量流的液压系统多能级、分布式设计方法;(3)生物酶-液压油体系相变能触发的瞬态增压方法;(4)多源能量流间协调机制与平顺切换策略。研究成果为各类移动机器人液压系统高效化、轻量化提供了新思路和新方法。
中文关键词: 移动机器人;液压驱动系统;仿生设计;能量供应与转换;
英文摘要: Poor load capacity has become the bottleneck in developing practical mobile robots. And power density of hydraulic system is the decisive factor to improve the load capacity. It is quite an effective way to increase the power density through making a rational distribution of hydraulic energy and improving the efficiency by applying bionic energy flow.The project is to solve the demands for high power density of hydraulic systems for mobile robots.Firstly, the biological energy flow characteristics are imitated,including the multilevel and distribution of biological energy flow.Then, design criteria of hydraulic driven system for energy matching are proposed.Secondly, the catalysis of biological enzyme is applied to pressurize hydraulic oil instantly, and the coordinated control method of multi-source energy supply is also researched, which can improve the energy utilization efficiency of hydraulic system. This project focuses on energy transmission and efficiency optimization process of Single Pump Source & Multi Actuators (SP&MA) hydraulic system, and intends to address the key scientific problems as follows: 1.The energy dissipation mechanism of SP&MA hydraulic system. 2.Multi-level and distributed design method for hydraulic system based on the bionic energy flow. 3.Transient pressurization methodology base
英文关键词: Mobile robots;Hydraulic driven system;Bionic design;Energy supply and conversion;