Hydraulics design and simulation of new kind of leg

Abstract

Rolking leg is the phenomena which represent those legs which has the capability of rolling as well as walking. The importance of this kind of leg is that it removes the drawbacks which are present in both rolling and walking kinds of leg phenomena. Rolk-ing leg is not only smooth but also can move with some good speed from different kind of terrain. Rolking leg with electric actuators is already been researched in Helsinki, but they are not for carrying load. That is the one goal given by General Intelligent Ma-chines (GIM) to Department of Intelligent Hydraulics and Automation (IHA) to have such hydraulic actuated leg which can carry heavy load. In this master thesis goal is to choose the hydraulic components which are necessary for the rolking leg. Implementation of hydraulic system in order to carry the heavy load cannot be denied, because the electrical actuator can work upto some extent but they are not long term solution. Selection of hydraulic cylinders and valves came into existence according to the need of leg and the weight it has to carry. After selection of components, simulation of designed rolking leg has been made and control system to lift and lower the leg in Matlab. A rough terrain has been given to leg through which it has to pass and leg frame stability has been monitored as well behavior of hydraulic system to gain the stability. All the results shown with having quite reasonable behavior of selected hydraulic com-ponents as well as the stability of rolking leg frame.