电液机器人关节设计与动态性能分析

2018 3rd International Conference on Mechanical, Control and Computer Engineering (ICMCCE) Pub Date : 2018-09-01 DOI:10.1109/ICMCCE.2018.00058

Yuanfang Zhao, Guangzhu Chen, C. Miao, Changyou Zhang

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引用次数: 2

摘要

电液关节是液压关节机器人的关键部件，其结构和性能对液压机器人的工作性能有重要影响。电液关节主要由压力传感器、电液比例换向阀、电液比例溢流阀和液压马达组成，电液比例换向阀控制电液关节的旋转方向和速度，电液比例溢流阀控制工作负载。介绍了电液关节的机械系统和液压系统，建立了仿真和实验，分析了电液关节的输出转矩和转速变化规律。电液接头的结构特点和性能分析为控制原理的研究奠定了基础。

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Design and Dynamic Performance Analysis of an Electro-Hydraulic Robot Joint

An electro-hydraulic joint is the key component of a hydraulic joint robot, and its structure and performance importantly affect the working performance of the hydraulic robot. The electro-hydraulic joint mainly consists of pressure sensors, an electro-hydraulic proportional reversing valve, an electro-hydraulic proportional relief valve and the hydraulic motor, the electro-hydraulic proportional reversing valve controls the rotation direction and speed of the electro-hydraulic joint, while the electro-hydraulic proportional relief valve controls the working load. After introducing the mechanical and hydraulic system of the electro-hydraulic joint, simulation and experiments are built, and the output torque and speed change rule of the electro-hydraulic joint are analyzed. Structural characteristic and performance analysis of the electro-hydraulic joint lays the foundation of the control principle.

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2018 3rd International Conference on Mechanical, Control and Computer Engineering (ICMCCE)

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