摘要
为减小水压机器人关节尺寸,提出了一种体积小、输出力矩大的水压驱动的转角伺服机器人关节执行器。首先根据水压转角伺服机器人关节作动器的结构和工作原理,建立了关节作动器的数学模型,推导了关节作动器的控制方程并进行了线性化处理,并建立了机器人关节执行器的AMESim模型,验证了线性化控制方程的可靠性,在此基础上根据输入角幅值、外部负载扭矩和水压对关节执行器进行优化,优化后的水压驱动机器人关节执行器具有位置跟踪精度高,动态响应快等优点。
In order to reduce the joint size of hydraulic robot,a joint actuator of hydraulic driven angle servo robot with small vol-ume and large output torque is proposed.Firstly,according to the structure and working principle of the joint actuator of the hy-draulic angle servo robot,the mathematical model of the joint actuator is established,the control equation of the joint actuator is deduced and linearized,and the AMESim model of the robot joint actuator is established to verify the reliability of the linearized control equation.On this basis,according to the input angle amplitude External load torque and water pressure optimize the joint actuator.The optimized joint actuator of water pressure driven robot has the advantages of high position tracking accuracy and fast dynamic response.
作者
王璐
张文平
WANG Lu;ZHANG Wen-ping(School of Intelligent Manufacturing,Wuxi Vocational College of Science and Technology,Jiangsu Wuxi 214028,China;School of Electrical Engineering and Automation,Jiangxi University of Technology,Jiangxi Ganzhou 341000,China)
出处
《机械设计与制造》
北大核心
2024年第5期338-344,350,共8页
Machinery Design & Manufacture
基金
2020年江苏高等职业教育高水平骨干专业建设项目(GZ2020048)。
