栾云广, 王化明, 赵东标, 王振, 张克通. 燃爆直线型弹跳驱动器分析与试验[J]. 机器人, 2015, 37(4): 499-505. DOI: 10.13973/j.cnki.robot.2015.0499
引用本文: 栾云广, 王化明, 赵东标, 王振, 张克通. 燃爆直线型弹跳驱动器分析与试验[J]. 机器人, 2015, 37(4): 499-505. DOI: 10.13973/j.cnki.robot.2015.0499
LUAN Yunguang, WANG Huaming, ZHAO Dongbiao, WANG Zhen, ZHANG Ketong. Analysis and Experiment of Combustion Powered Linear Actuator for Hopping[J]. ROBOT, 2015, 37(4): 499-505. DOI: 10.13973/j.cnki.robot.2015.0499
Citation: LUAN Yunguang, WANG Huaming, ZHAO Dongbiao, WANG Zhen, ZHANG Ketong. Analysis and Experiment of Combustion Powered Linear Actuator for Hopping[J]. ROBOT, 2015, 37(4): 499-505. DOI: 10.13973/j.cnki.robot.2015.0499

燃爆直线型弹跳驱动器分析与试验

Analysis and Experiment of Combustion Powered Linear Actuator for Hopping

  • 摘要: 为精确控制采用燃爆直线型驱动器(combustion powered linear actuator,CPLA)的弹跳机器人,对影响 CPLA 驱动弹跳性能的因素进行了分析.首先根据 CPLA 的工作过程建立了 CPLA 的动力学模型,得到性能参数;然后试验分析氧化剂一氧化二氮(N2O)与燃料丙烷(C3H8)摩尔比、两者的充气压力对 CPLA 输出性能的影响.试验结果显示:影响确实存在,当摩尔比为 9.91 时,CPLA 驱动弹跳高度最高,质量 3.17kg 弹跳机构弹跳高度为 3.2m,CPLA 能量利用率 8.4%,弹跳效率 7.01%.CPLA 在驱动弹跳过程中输出很高的平均功率,并且具有很大的功率质量比.

     

    Abstract: To accurately control a hopping robot with combustion powered linear actuator (CPLA), factors that influence the hopping-driving performance of CPLA are analyzed. Firstly, dynamic model is set up according to the working process of CPLA, and performance parameters are obtained. Nextly, how the mole ratio of oxidizer (nitrous oxide N2O) to fuel (propane C3H8) and injection pressures of the two gas influence the output performance of CPLA are analyzed by experiments. Results show that the influence do exist, when the mole ratio is 9.91, the hopping height of CPLA reaches a maximum, and a 3.17kg hopping mechanism can hop as high as 3.2m. CPLA energy efficiency is 8.4% and hopping efficiency is 7.01%. The CPLA outputs a high average power, and is of a large power-mass ratio during the driving hopping process.

     

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