基于液压转角伺服的液压关节研究

Hydraulic robot joint research based on hydraulic rotary servo

针对液压机器人关节研究中存在关节径向尺寸过大,运动范围偏小,控制精度有限等问题,提出了一种阀芯径向力平衡、伺服盲区小的液压转角伺服阀来解决该问题,设计了对应的液压转角伺服阀,并基于该液压转角伺服阀设计了液压关节。该液压关节尺寸小、力矩大。仿真实验结果证明该液压关节响应快,运动平稳性与稳定性好,运动精度高,带负载能力强。

Aiming at the problem that the development of hydraulic robot joint is restricted by joint dimension,movement range and control precision,a hydraulic rotary servo valve was proposed,in which the valve spool stress is balance in radial direction and servo dead zone is small.A hydraulic robot joint was designed based on the hydraulic rotary servo valve.The hydraulic robot joint dimension is compact,and its output torque is larger.The simulation experimental results show that hydraulic robot joint has high response rate,good motion stationarity,high movement precision,and larger load capacity.