液压机械臂腕部旋转直线作动器的研究

Research of the Wrist Rotating Linear Actuator of Hydraulic Mechanical Arm

介绍一种紧凑式液压机械臂腕部旋转直线作动器,对比了国内现有的液压机械臂腕部的形式及结构,描述了其特有的结构、技术参数和工作原理。研究的液压机械臂腕部旋转直线作动器具有结构紧凑、体积小、质量轻、能量转换效率高和腕部位置闭环控制等优点,为精确控制液压机械臂的姿态提供参考。

A type of compact hydraulic mechanical arm wrist rotating linear actuator was introduced and compared with the exist⁃ing domestic hydraulic mechanical arm wrist in form and structure,and its unique structure,technical parameters and working princi⁃ple were described.The hydraulic mechanical arm wrist rotating linear actuator has many features such as compact structure,small size,light weight,high energy conversion efficiency and closed-loop control of the wrist position,which provides reference for accu⁃rately controlling the posture of the hydraulic mechanical arm.