液压伺服被动柔顺关节的柔顺特性分析  

Compliance characteristics of a hydraulic servo passive compliant joint

作　　者：刘纯键 蒋林[1,2] 任利胜 潘孝越 周玲 赵慧 Liu Chunjian;Jiang Lin;Ren Lisheng;Pan Xiaoyue;Zhou Ling;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》2021年第4期270-276,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液压机械臂类机器人的人机物理接触安全性,本文设计了一种液压伺服被动柔顺关节,首先介绍了该关节的结构、基本工作原理及液压控制系统动力学模型,然后借助MATLAB/Simulink工具箱建立关节系统模型并进行碰撞仿真实验,还通过模拟实验优化了相关参数。模拟结果表明,液压伺服被动柔顺关节具有良好的柔顺性,能够迅速对意外碰撞进行位置反馈调节。In order to improve the safety of human-machine physical contact of robots with large output torque,a hydraulic servo passive compliant joint was designed.Firstly,the structure,basic operation principle of the joint and the dynamic model of the hydraulic control system were introduced.Then the joint’s system model was established by using MATLAB/Simulink toolbox,and the collision simulation tests were carried out.In addition,the related parameters were optimized by simulation tests.The results show that the hydraulic servo passive compliant joint has good compliance and can quickly adjust the position feedback of accidental collision.

关 键 词：液压伺服 被动柔顺 柔顺关节 柔顺特性 动力学模型 柔顺度 

分 类 号：TH12[机械工程—机械设计及理论]