Structural Optimization and Test of Water-hydraulic Torsion Joint
In order to solve the problems of limited operating space and insufficient support stiffness of flexible manipulator driven by pressure fluid,a new torsion joint driven by water hydraulic is proposed.Through the finite element analysis method,the torsional deformation characteristics of Joint under different structural parameters and different working conditions are analyzed.Based on the Kriging surrogate model hybrid optimization algorithm,the optimal combination of structural parameters corresponding to the maximum torsion angle of the torsional joint is obtained and the water-hydraulic torsion joints are tested.The results show that torsion angle of the joint is basically consistent with system pressure,and when system pressure is 0.6 MPa,the maximum torsion angle of the torsion joint is about 40°,and the error of the test and simulation results is less than 2%.This study provides new ideas and methods for the design and driving mode of torsional Joint.
water hydraulicsflexible manipulatortorsion jointstructural optimizationdeformation simulation