Dynamic Characteristics Analysis and Optimization of a Hydraulic Driven Robot Joint
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.
NETL
NSTL
万方数据
维普
