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Aide à la conception d'un robot hexapode hydraulique à haute vélocité

Abstract : ln this work, a computer-aided-tool for the design of a high speed hexapod hydraulic robot has been developed from an electro-hydraulic nonlinear model of an actuator. It is composed of a high speed jack (5 mis) with high loading capacity (10 tonnes for static loading and 1 tonne for dynamic loading), and two parallel three stage servovalves. This model has been developed from constructor inputs and estimated parameters that cannot be measured. The modelling has shown that the system (servovalve - jack) cannot be dissociated. The experiment tests indicate that the model of the system give a good description of the physical behaviour of the actuator over its operating range. The investigation of the jack control has been performed taking into account the nonlinear behaviour of hydraulic jacks described by the model. A control law with a sufficient level of speed that ensures precision and stability levels for ail operating points is obtained using the integral effect of the system and the proportional regulator. Furthermore, in order to introduce the hexapod robots within a hyperbar marine environment, some technological solutions of the oil alimentation of jacks and oil leakages have been proposed. A preliminary study on the leg of hexapod robots suggests that a new structure using an "8" shaped bar couId be considered in order to increase the workspace of the hexapod. Nevertheless, increasing the spherical joint size wouId be necessary.
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https://pastel.archives-ouvertes.fr/pastel-00005495
Contributor : Ecole Arts Et Métiers Paristech <>
Submitted on : Friday, November 27, 2009 - 8:00:00 AM
Last modification on : Wednesday, November 29, 2017 - 2:56:30 PM
Long-term archiving on: : Friday, September 10, 2010 - 2:37:47 PM

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  • HAL Id : pastel-00005495, version 1

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Mahuampy Salazar Garcia. Aide à la conception d'un robot hexapode hydraulique à haute vélocité. Sciences de l'ingénieur [physics]. Arts et Métiers ParisTech, 2009. Français. ⟨NNT : 2009ENAM0010⟩. ⟨pastel-00005495⟩

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