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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3.17 kg弹跳机构弹跳高度为3.2 m,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.
In order to precisely control the bouncing robot with combustion powered linear actuator (CPLA), the factors affecting the bounce performance of CPLA are analyzed.Firstly, the dynamic model of CPLA is established according to the working process of CPLA, and the performance parameters The influence of the pressure of the two oxidizers, nitrous oxide (N2O) and propane (C3H8), on the output performance of CPLA was experimentally analyzed. The experimental results showed that the influence did exist. When the molar ratio was 9.91, The bounce height is the highest, the bounce height of the 3.17 kg bounce mechanism is 3.2 m, the energy efficiency of the CPLA is 8.4% and the bounce efficiency is 7.01% .CPLA outputs very high average power and has a great power-mass ratio during the drive bounce.