危险品处理机械臂液压关节运动分析

Hydraulic Joint Motion Analysis of Dangerous Articles Disposal Manipulator

以危险品处理机械臂液压驱动关节为研究对象,基于电液比例技术对液压驱动关节控制系统作理论分析与建模,以小臂关节为例研究了液压缸活塞杆与关节运动传递关系.从液压驱动关节比例控制原理出发,依据阀控液压缸工作动态方程,得到活塞杆速度与阀芯位移以及机构位置的确定关系.仿真结果证明了液压缸活塞直线运动与关节旋转运动之间的非线性传递关系,并指出了它们位移、速度之间特定的约束关系,为机械臂的运动轨迹规划与控制奠定了基础.

In this paper,the hydraulic driving joint of the dangerous articles disposal manipulator is studied.Based on electro-hydraulic proportional technology,the control system model of hydraulic driving joint is built and analysed in theory.Take the case of small arm,the movement relationship between the piston rod and joint is studied.Derectly from the electro-hydraulic proportional control technology principle of the hydraulic driving joint,according to the working dynamic equation of the hydraulic cylinder,certain relationship between the piston and the manipulator can be determined.Simulation results show that the transmission of movement between the hydraulic cylinder piston and joint rotation is nonlinear transfer,and indicate the constrained relationship between their displacement and velocity.The results lay the foundation for trajectory planning and control of the manipulator.