水下作业灵巧手水压驱动系统的设计与工程实现

Design and Implementation of the Driving System for Underwater Operation Dexterous Hands

鉴于水下作业灵巧手的特殊要求,匹配合适的驱动系统显得尤为重要。笔者详细阐述了水下作业灵巧手水压驱动设计,探讨了工程实现,在水下特定作业环境有着良好的应用前景;以此为基础,组建了水压伺服控制回路,构建了力控制系统。

For the special requirements for the underwater operation dexterous hands,designing an appropriate driving system is very important.We present the design of the operation hands′ driving systems and their engineering implementation.On the basis of it,we establish the hydraulic pressure control loop and design the force control system.Experiments show that the design is correct.