高技术通讯2017，Vol.27Issue(2)：177-183,7.DOI:10.3772/j.issn.1002-0470.2017.02.010
液压驱动机械臂的设计与关节驱动分析
Design of a hydraulic-driven manipulator and analysis of its joint driving
摘要
Abstract
A new 6-DOF serial manipulator was designed, and its joint driving control method based on hydraulic swing cylinder was proposed.The manipulator arm is driven by two hydraulic cylinders which are perpendicular to each other, and the control signals are given by the closed loop control system which uses hydraulic drive and consists of the host computer, signal control card and potential sensor.The manipulator's 3-D model was constructed, the kinematics modeling was conducted by using the D-H method, and the forward kinematics analysis was performed.Finally, the experimental analysis of the manipulator joint control method based on hydraulic swinging cylinder was carried out, and the relationship between the running speed of the manipulator's joints and the duty cycle of the pulse width modulation (PWM) governor is obtained.The experiment gave the corresponding joint motion relationships to provide the references for the study of the control of series manipulator position and the motion path of a manipulator.关键词
串联机械臂/液压摆动缸/关节驱动控制/D-H运动学方程/脉宽调制(PWM)占空比/调速Key words
series manipulator/hydraulic swing cylinder/control of joint driving/D-H kinematic equation引用本文复制引用
高进芃,熊禾根,陶永,刘辉,谢光..液压驱动机械臂的设计与关节驱动分析[J].高技术通讯,2017,27(2):177-183,7.基金项目
科技部支撑计划(2015BAF01B03)资助项目. （2015BAF01B03）
