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

作　　者：高进芃 熊禾根[1] 陶永[2] 刘辉[2] 谢光[1] 

机构地区：[1]武汉科技大学机械自动化学院,武汉430081 [2]北京航空航天大学机械工程及自动化学院,北京100191

出　　处：《高技术通讯》2017年第2期177-183,共7页Chinese High Technology Letters

基　　金：科技部支撑计划(2015BAF01B03)资助项目

摘　　要：设计了一种新型六自由度串联机械臂,并提出了基于液压摆动缸的机械臂驱动关节控制方法。机械臂驱动关节由两个输出轴相互垂直的液压摆动缸提供动能,驱动形式采用闭环液压驱动,闭环控制系统由上位机、信号控制卡、电位传感器等组成。建立了该机械臂的三维模型,应用D-H方法对其进行了运动学建模和正向运动学分析,最后对基于液压摆动缸的机械臂驱动关节控制方法进行了实验分析,得出了机械臂关节运行速度与脉宽调制(PWM)调速占空比的关系,根据实验结果得出了相应的运动曲线关系,为串联机械臂位置控制、运动路径控制研究提供了基础。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 ki- nematics 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 relation- ships 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 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]