三自由度解耦液压自伺服关节运动特性分析

Analysis of Motion Characteristics of Three Degrees of Freedom Decoupling Hydraulic Self Servo Joint

针对机器人关节中普遍存在的运动耦合、运动不够平稳、输出力矩小等问题,设计了一种径向配油的单叶片转角自伺服液压摆动缸,将其作为液压机器人关节的驱动机构,该液压摆动缸具有运动平稳、输出力矩大的优点,且其降低了液压机器人关节尺寸。通过ADAMS对三自由度解耦液压自伺服关节进行运动解耦性分析验证,然后利用MATLAB/Simulink仿真记录三自由度液压自伺服关节末端所能到达的空间轨迹,最终绘制出该三自由度液压关节的工作空间。仿真结果表明,该三自由度液压自伺服关节具有运动平稳、输出力矩大、运动解耦、工作空间大的特点。

Multi degree freedom robot joint has the common problems, such as motion coupling, motion is not stable enough,output torque is small. Aiming at these problems, a new hydraulic swing cylinder with single vane rotating angle self servo valve is proposed. It is designed with radial oil distribution and has been used as hydraulic robot joints drive mechanism, and the hydraulic swing cylinder has the advantages of the smooth motion, large output torque and reduces the radial size of the hydraulic robot joints. Analyzing and verifying the motion decoupling of three degrees of freedom decoupling hydraulic self servo joint by ADAMS software. The space trajectory where three degree freedom hydraulic joint terminal can reach is recorded by using MATLAB/Simulink simulation, and finally draws the workspace of three degree freedom hydraulic joint. The simulation results show that three degree freedom hydraulic self servo joint has the characteristics of smooth motion, large output torque, the motion decoupling, and large workspace.