机器臂柔顺关节阀控伺服系统刚度特性分析  

Stiffness Characteristics Analysis of Valve Controlled Servo System for Robot Arm Flexible Joints

作　　者：刘海军[1] Liu Haijun(College of Intelligent Manufacturing and Automobile,Neijiang Vocational and Technical College,Neijiang Sichuan 641000,China)

机构地区：[1]内江职业技术学院智能制造与汽车学院,四川内江641000

出　　处：《机械管理开发》2025年第3期33-34,37,共3页Mechanical Management and Development

基　　金：中国社区教育2023年度“能者为师”实践创新项目(23NZWS2-24)。

摘　　要：为了提高机器臂关节的传动能力,设计了一种机器臂柔顺关节伺服系统达到控制泄漏流量调节的目的。高压腔与阀控泄漏油道形成连通状态,利用比例流量阀调节泄漏流量,由此达到调控关节刚度的效果。在建立关节结构动力模型的基础上,研究了泄漏流量对机器臂柔顺关节动态与刚度特性的影响。研究结果表明:将提高泄漏流量后,关节最大输出转矩发生了降低,关节刚度发生了减小,处于同样的泄漏流量变化区间内时,以阶跃信号获得的关节刚度调节范围相对正弦信号更小。该研究对机器臂的设计及工作效率起到很好的实际指导价值,易于推广。In order to improve the transmission ability of the robot arm joint,a servo system of the robot arm flexible joint is designed to achieve the purpose of controlling the leakage flow regulation.The high-pressure chamber and the valve-controlled leakage oil channel form a connected state,and the proportional flow valve is used to regulate the leakage flow,thus achieving the effect of regulating the stiffness of the joint.On the basis of establishing the dynamic model of the joint structure,the effect of leakage flow on the dynamic and stiffness characteristics of the flexible joint of the robot arm is studied.The results show that after increasing the leakage flow rate,the maximum output torque of the joint is reduced,the joint stiffness is reduced,and the range of the joint stiffness obtained by the step signal is smaller than that obtained by the sinusoidal signal in the same leakage flow rate variation interval.This study plays a good practical guidance value for the design and working efficiency of the robot arm,which is easy to promote.

关 键 词：液压伺服 柔顺关节 泄漏流量 动态特性 变刚度 

分 类 号：TH165[机械工程—机械制造及自动化]