闭式泵阀联控电液驱动系统的设计  

Design of a closed pump-valve joint controlled electro-hydraulic drive system

作　　者：周加永[1,2] 孟小净 王亮宽[1] 王妍[1] 吴潇璞[1] ZHOU Jiayong;MENG Xiaojing;WANG Liangkuan;WANG Yan;WU Xiaopu(Northwest Institute of Mechanical and Electrical Engineering,China North Industries Group Corporation Limited,Xianyang 712099,China;School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]西北机电工程研究所,陕西咸阳712099 [2]北京理工大学机电学院,北京100081

出　　处：《兵器装备工程学报》2023年第2期247-252,共6页Journal of Ordnance Equipment Engineering

基　　金：咸阳市重大科技专项计划项目(2021ZDYF-GY-0016)。

摘　　要：驱动系统是助力机器人最主要的系统之一,助力机器人性能的好坏主要是由其驱动系统决定的。分析对比了当前助力机器人常用的驱动方式,设计了适合于助力机器人的高效轻小型液压驱动系统,建立了助力机器人高效轻小液压驱动系统的数学模型,得到了影响系统动态特性的主要因素和变化规律,为助力机器人液压驱动系统及控制算法的优化提供了一定参考。A driving system is one of the most important systems of power assisted robots, whose performance is mainly determined by their driving system. This paper analyzes and compares the commonly used driving mode of the current power assisted robots, and designs an efficient, light and small hydraulic driving system suitable for the robots. The mathematical model of the high-efficiency and lightweight hydraulic driving system of the power assisted robots is established, and the main factors and the changing rules affecting dynamic characteristics of the system are obtained, which provides a certain reference for the optimization of the hydraulic driving system and control algorithm of the power assisted robots.

关 键 词：助力机器人 泵阀联控 电液驱动系统 集成化设计 特性分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]