Mechanism and Experiment of Low-speed Motion of Robot Hydraulic Rotary Joint
Aimed at the dead zone and low-speed crawling of robot hydraulic rotary joints,the mechanism of their generation was studied and experimental analysis was conducted.Firstly,the mechanism of seal friction was discussed,the friction torque of various sealing mechanisms of the swing cylinder was calculated,and a friction model at low speed was constructed.Then,the electro-hydraulic position servo system is modeled by numerical analysis,and the simulation of low-speed crawling phenomenon is carried out.Finally,the dead zone and crawling phenomenon are verified and analyzed by experiments,and the effect of PID control on crawling phenomenon is observed.Simulation and experimental results show that under the friction of the seal element,there is a large dead zone in the hydraulic swing cylinder,and when the low-speed operation occurs,the hydraulic swing cylinder has obvious crawling phenomenon,which can improve the tracking response well under the PID controller.
万方数据
维普
