基于双螺旋副传动的七功能液压机械手肘关节  

An Elbow of 7-DOF Hydraulic Manipulator Based on Double-screw-pair Transmission

作　　者：罗高生[1] 陈家旺[2] 顾临怡[1] 

机构地区：[1]浙江大学流体动力与机电系统国家重点实验室,浙江杭州310027 [2]浙江大学海洋学院,浙江杭州310058

出　　处：《机器人》2014年第1期36-42,共7页Robot

基　　金：国家863计划资助项目(2008AA092301);浙江省重点科技创新团队计划资助项目(2010R50036)

摘　　要：通过对双螺旋传动内、外螺旋副旋向的同向和反向布置的分析和比较,建立双螺旋传动的运动学和动力学关系,并且针对不同的内外螺旋布置和导程关系,选用不同的轴向力补偿方式.研究分析表明,内外螺旋副的反向布置方式比同向布置方式具有更大的输出转角活塞位移比,而内外螺旋的螺旋副同向布置比反向布置方式具有更大的输出扭矩;对双螺旋传动摆动油缸的轴向力进行补偿能够保证输入压力和输出扭矩的线性关系,提高传动效率.利用内外螺旋副反向布置的双螺旋摆动油缸模型分别建立了具有轴向力补偿功能和不带轴向力补偿的两种水下液压机械手肘关节.通过两种机械手肘关节的传动实验,验证了内外螺旋副的反向布置方式的运动学和动力学关系.对两种机械手肘关节的输出扭矩的比较表明,具有轴向力补偿的双螺旋摆动油缸比未进行轴向力补偿的双螺旋摆动缸具有更好的传动特性.The co-rotating and reverse screw direction configurations between inner and outer screw pairs in the double- screw-pair transmission are analyzed and compared, its kinematics and dynamics are modeled, and different ways of axis force compensation are chosen according to their different configurations and their screw leads. It is shown that the ratio between the output swing angle and the piston movement is larger in the reverse screw direction configuration between inner and outer screw pairs, while the output torque is larger in the co-rotating screw direction configuration. Through output axis force compensation in the double-screw-pair swing rotary actuator, the linearity relationship between input pressure and output torque can be guaranteed, and transmission efficiency is improved. By using the reverse screw direction configuration between inner and outer screw pairs of the double-screw-pair rotary actuator driving model, the models of two kinds of underwater hydraulic manipulator elbows are established, one with axis force compensation and the other without axis force compensation. The kinematics and dynamics relations in the reverse screw direction configuration between inner and outer screw pairs are verified through the driving experiments of two kinds of manipulator elbows, and the comparison of the output torques shows that the one with axis force compensation has better transmission characters than the other one.

关 键 词：水下液压机械手 摆动油缸 双螺旋副传动 轴向力补偿 机械手肘关节 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]