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 / Fach: Maschinenbau
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.