液压伺服柔顺关节的变刚度设计与研究  

Design of and research on variable stiffness of hydraulic servo compliant joint

作　　者：潘孝越 蒋林[1,2] 任利胜 朱建阳 赵慧 Pan Xiaoyue;Jiang Lin;Ren Lisheng;Zhu Jianyang;Zhao Hui(Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education,Wuhan University of Science and Technology,Wuhan 430081,China;Institute of Robotics and Intelligent Systems,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]武汉科技大学冶金装备及其控制教育部重点实验室,湖北武汉430081 [2]武汉科技大学机器人与智能系统研究院,湖北武汉430081

出　　处：《武汉科技大学学报》2020年第4期290-296,共7页Journal of Wuhan University of Science and Technology

基　　金：国家自然科学基金资助项目(61105086);湖北省自然科学基金资助项目(2018CFB626);武汉市应用基础前沿资助项目(2019010701011404).

摘　　要：为了提高输出力矩较大的机械臂类机器人的人机物理接触安全性,本文设计了一种大转矩、刚度可连续变化的液压伺服柔顺关节。首先介绍了关节的结构、伺服机理以及阀控泄漏流量调节关节刚度的原理,然后建立了具有阀控泄漏流量的关节动力学模型,最后借助MATLAB/Simulink工具箱建立关节系统模型,研究了阀控泄漏流量对关节动态特性和刚度的影响。模拟结果表明,随着阀控泄漏流量的增加,系统的位置跟随性变差,位置误差相应增大,关节的刚度则随之降低。In order to improve the safety of human-machine physical contact of robot with large output torque,a hydraulic servo compliant joint with large torque and continuously variable stiffness was designed.Firstly,the structure,servo mechanism of the joint and the principle for adjusting joint’s stiffness by leakage flow controlled by valve were introduced.Then the joint’s dynamic model with valve controlled leakage flow was established.Finally,the joint’s system model was established by using MATLAB/Simulink toolbox,and the influence of leakage flow controlled by valve on the dynamic characteristics and stiffness of the joint was studied.The results show that with the increase of leakage flow controlled by valve,the position tracking of the system is worse,the position error is increasing and the stiffness of the joint is decreasing gradually.

关 键 词：液压伺服 柔顺关节 变刚度 阀控泄漏流量 动力学模型 动态特性 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]