摘要
RPJ-X型喷浆机器人的大臂为一闭链机构并用液压油缸进行驱动,要建立其动力学方程,必须对电磁比例阀控制的液压驱动器动态特性进行分析,将两者结合在一起,可得出整个系统的动态方程,使其输入输出关系确定,为喷浆机器人的仿真实验及实际控制提供了重要依据。
The upper ann of the shotcrete robot is a closed- chain mechanism. It is actuated by the hydrauhc actuator. The properties of the hydraulic actuator, controlled with electromagnetic proportional valve, have been analyzed. Combined with the dynamic equation of the upper ann, the dynamics of the system, i.e. the input - output relations are given. These are important aspects for the simulation and control of the robot.
出处
《煤矿机械》
北大核心
2007年第10期30-31,共2页
Coal Mine Machinery
关键词
喷浆机器人
闭链机构
液压驱动器
动态特性
shotcrete robot
closed chain mechanism
hydraulic actuator
dynamic properties
