摘要
为了探讨机械臂的混合驱动的可能性与优势,将电动缸和液压缸这两种驱动方式相结合,设计了一种伺服电动缸和电液比例阀控液压缸混合驱动的机械臂。以机械臂末端轨迹控制为目标,搭建了相应的控制系统。基于Matlab的Simulink与AMESim软件的联合,建立了该控制系统的仿真模型。仿真分析了该混合驱动机械臂的末端轨迹的可控性与特点,为开发实用的混合驱动机械臂提供了理论依据。
In this paper,a manipulator using both hydraulic cylinder and electric cylinder is designed to get a combination of the two types of actuator in a way that their advantages can be added.Modeling of the control system is built using Matlah/Simulink and AMESim and Simulation is run to see the controllability of the manipulator.This paper can be a reference for hybrid driving manipulator.
出处
《机电一体化》
2014年第A04期3-6,共4页
Mechatronics
关键词
机械臂
混合驱动
末端轨迹控制
伺服电动缸
电液比例阀控液压缸
manipulator
hybrid driving
trajectory control
servo motor
proportional valve controlled hydraulic cylinder
