Müller, Jörg; Hiller, Manfred:
Design of an energy optimal hydraulic concept for the large-scale combined legged and wheeled vehicle ALDURO
In: In proceedings of the 10th World Congress on the Theory of Machines and Mechanism - Gerhard-Mercator-Universität - GH Duisburg, Fachgebiet Mechatronik Lotharstraße 1 47057 Duisburg, Germany, 1999
Buchaufsatz/Kapitel in Sammelwerk / Fach: Maschinenbau
Titel:
Design of an energy optimal hydraulic concept for the large-scale combined legged and wheeled vehicle ALDURO
Autor(in):
Müller, Jörg; Hiller, Manfred im Online-Personal- und -Vorlesungsverzeichnis LSF anzeigen
Erscheinungsjahr
1999
Erschienen in:
In proceedings of the 10th World Congress on the Theory of Machines and Mechanism - Gerhard-Mercator-Universität - GH Duisburg, Fachgebiet Mechatronik Lotharstraße 1 47057 Duisburg, Germany, 1999

Abstract:

The system under investigation is the hydraulically driven autonomous large-scale combined legged and wheeled vehicle ALDURO. In this paper an overall mechatronic simulation model, realized in the object-oriented programming language C++, will be presented, consisting of the dynamics of the complete hydraulic system, of the mechanical system including an explicit solution of the kinematic loops and of a simple time-discrete control structure. Simulations of different walking patterns are used to find an optimal set of hydraulic components.