机器人液压旋转关节低速运动机理及实验  

Mechanism and Experiment of Low-speed Motion of Robot Hydraulic Rotary Joint

作　　者：李龙 谢中取 李娟娟 LI Long;XIE Zhong-qu;LI Juan-juan(Department of Mechanical Engineering,Taiyuan Institute of Technology,Taiyuan,Shanxi 030008;School of Mechanical Engineering,Nanjing University of Science&Technology,Nanjing,Jiangsu 210094;School of Emergency Equipment,North China Institute of Science and Technology,Langfang,Hebei 065201)

机构地区：[1]太原工业学院机械工程系,山西太原030008 [2]南京理工大学机械工程学院,江苏南京210094 [3]华北科技学院应急装备学院,河北廊坊065201

出　　处：《液压与气动》2024年第5期93-102,共10页Chinese Hydraulics & Pneumatics

基　　金：太原工业学院引进人才科研资助项目(2022LJ033,2022KJ093);中国博士后科学基金面上项目(2023M731690)。

摘　　要：针对机器人液压旋转关节的死区和低速爬行,研究其产生机理并进行了实验分析。首先,论述了密封摩擦的机理,计算摆动缸各种密封机构的摩擦力矩,构建低速状态下的摩擦模型;然后,利用数值分析方法对电液位置伺服系统建模,对低速爬行现象进行仿真分析;最后,通过实验对死区和爬行现象进行验证和分析,并观察PID控制对爬行现象的改善作用。仿真和实验结果表明:在密封元件的摩擦下,液压摆动缸存在较大死区,且低速运行时,液压摆动缸出现明显爬行现象,在PID控制器下可良好的改善跟踪响应。Aimed at the dead zone and low-speed crawling of robot hydraulic rotary joints,the mechanism of their generation was studied and experimental analysis was conducted.Firstly,the mechanism of seal friction was discussed,the friction torque of various sealing mechanisms of the swing cylinder was calculated,and a friction model at low speed was constructed.Then,the electro-hydraulic position servo system is modeled by numerical analysis,and the simulation of low-speed crawling phenomenon is carried out.Finally,the dead zone and crawling phenomenon are verified and analyzed by experiments,and the effect of PID control on crawling phenomenon is observed.Simulation and experimental results show that under the friction of the seal element,there is a large dead zone in the hydraulic swing cylinder,and when the low-speed operation occurs,the hydraulic swing cylinder has obvious crawling phenomenon,which can improve the tracking response well under the PID controller.

关 键 词：液压摆动缸 密封 死区 低速爬行 

分 类 号：TH137[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]