低油污染敏感度的新型机器人液压驱动技术  

Study on A Robotic Hydraulic Actuating Technology With the Lower Oil Pollution Sensitivity

作　　者：任安业 高鹏 高峰[2] 

机构地区：[1]上海宇航系统工程研究所,上海201108 [2]机械系统与震动国家重点实验室上海交通大学机械工程学院,上海200240

出　　处：《机械设计与研究》2017年第5期160-164,共5页Machine Design And Research

基　　金：上海市科委资助项目(13DZ1108300)

摘　　要：在许多场合中,机器人需要大负载和高功率密度驱动能力,液压驱动无疑是较好的驱动方式,然而传统液压系统复杂,限制了其在机器人驱动上的应用。提出了一种基于低油污染敏感度的新型机器人液压驱动技术,通过大幅度提升液压伺服元件的抗污染能力简化液压系统,介绍了应用液压元件浮动结构设计方法研制的一体化结构伺服油缸和三级双叶片伺服摆动缸在"高性能四足仿生机器人"和"新型液压驱动机械臂"项目中的应用,给出了一体化结构伺服油缸的性能测试结果。On many occasions, robots need an actuator with the bigger output and the higher power density. It is obvious that hydraulic actuation is the best way, but the traditional hydraulic actuating system is too complex tbr robotic applications. In this paper a novel hydraulic actuating technology has been proposed bases on lower oil pollution sensitivity for robots, which is realized by enhancing the resisting pollution ability of servo. This paper studies on a floating hydraulic structure design, and proposes two hydraulic components. The one is an integrated structure hydraulic servo line cylinder for a high performance quadruped robot, the other is a three- grade hydraulic servo oscillating cylinder for a novel hydraulic robot arm. In the end, some test results are presented for the integrated structure servo hydraulic cylinder.

关 键 词：低油污染敏感度 机器人 液压驱动 一体化结构伺服油缸 三级双叶片摆动缸 

分 类 号：TH124[机械工程—机械设计及理论]