Müller, Jörg; Hiller, Manfred:
A Mechatronic Simulation Model for the Large-Scale Hydraulically Driven ALDURO
In: Proceedings of the International Workshop on Computer Software for Design, Analysis and Control of Fluid Power Systems - Gerhard-Mercator-Universität - GH Duisburg, Fachgebiet Mechatronik Lotharstraße 1 47057 Duisburg, Germany, 1999
1999book article/chapter in collection
Mechanical Engineering
Title:
A Mechatronic Simulation Model for the Large-Scale Hydraulically Driven ALDURO
Author:
Müller, Jörg;Hiller, ManfredUDE
LSF ID
1048
Other
connected with university
Appears in
Proceedings of the International Workshop on Computer Software for Design, Analysis and Control of Fluid Power Systems
Place of publication:
Gerhard-Mercator-Universität - GH Duisburg, Fachgebiet Mechatronik Lotharstraße 1 47057 Duisburg, Germany
Year of publication:
1999

Abstract:

The systemunder 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++, wil be presented. It consists of the dynamics of the complete hydraulic system, and the mechanical system including an explicit solution of the kinemaic loops. Simulations of different walking patterns are used to find an optimal set of hydraulic components.