水液压扭转关节的结构优化设计与试验  

Structural Optimization and Test of Water-hydraulic Torsion Joint

作　　者：纪辉[1] 张旭峰 聂松林[1] 冯俊学 高鹏望 尹方龙[1] JI Hui;ZHANG Xufeng;NIE Songlin;FENG Junxue;GAO Pengwang;YIN Fanglong(Beijing Key Laboratory of Advanced Manufacturing Technology,Beijing University of Technology,Beijing 100124;Beijing RIAMB Testing Technology Development Co.,Ltd.,Beijing 100036)

机构地区：[1]北京工业大学先进制造技术北京市重点实验室,北京100124 [2]北自(北京)检测科技发展有限公司,北京100036

出　　处：《液压与气动》2024年第10期85-92,共8页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(51975010);北京市属高等学校优秀青年人才培育计划项目(BPHR202203023)。

摘　　要：针对压力流体驱动的柔性机械手操作空间有限、支撑刚度不足等问题,提出一种由水液压驱动的新型扭转关节。通过有限元分析方法,对不同结构参数以及不同系统压力下关节的扭转变形特性进行了分析。基于Kriging代理模型混合优化算法获得扭转关节最大扭转角度对应的最佳结构参数组合,并对水液压扭转关节进行了试验研究。结果表明:试验与仿真的关节扭转角随系统压力变化的趋势基本一致,当系统压力为0.6 MPa时,扭转关节达到最大扭转角度,约为40°,且试验与仿真结果误差低于2%。为扭转关节设计和驱动方式提供了新思路、新方法。In order to solve the problems of limited operating space and insufficient support stiffness of flexible manipulator driven by pressure fluid,a new torsion joint driven by water hydraulic is proposed.Through the finite element analysis method,the torsional deformation characteristics of Joint under different structural parameters and different working conditions are analyzed.Based on the Kriging surrogate model hybrid optimization algorithm,the optimal combination of structural parameters corresponding to the maximum torsion angle of the torsional joint is obtained and the water-hydraulic torsion joints are tested.The results show that torsion angle of the joint is basically consistent with system pressure,and when system pressure is 0.6 MPa,the maximum torsion angle of the torsion joint is about 40°,and the error of the test and simulation results is less than 2%.This study provides new ideas and methods for the design and driving mode of torsional Joint.

关 键 词：水液压 柔性机械手 扭转关节 结构优化 变形仿真 

分 类 号：TH137[机械工程—机械制造及自动化]