Design and stiffness continuously adjustable analysis of hydraulic servo flexible drive mechanism

被引：0
|
作者：
Jiang L. [1 ,2 ]
Zhou L. [1 ]
Zhao H. [1 ,2 ]
机构：
[1] Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan
[2] Institute of Robotics and Intelligent Systems, Wuhan University of Science and Technology, Wuhan
来源：
Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) | 2022年 / 52卷 / 07期
关键词：
floating position; mechatronic engineering; multivariate nonlinear regression; stiffness continuously adjusted; valve-controlled leakage;
D O I：
10.13229/j.cnki.jdxbgxb20210049
中图分类号：
学科分类号：
摘要：
In order that the hydraulic manipulator outputs high stiffness while working，and changes stiffness to realize compliance while collision，the robot has corresponding flexibility under different working conditions and scenarios. A hydraulic servo flexible drive mechanism with both valve-controlled leakage and floating position was designed. Stiffness was reduced by internal and external unloading，so the robot could improve the safety of man-machine physical contact. Firstly，the joint structure and the principle of variable stiffness were introduced. Then，the dynamic simulation model was established by AMESim. The ranges of the valve controlled leakage and the radius of floating leakage were determined，when the following characteristics and motion characteristics of the mechanism were good. Next，the stiffness simulation model was established by MATLAB/Simulink，stiffness scatter values under different working conditions were obtained by simulation. Then the relationship between the single factor and the variable stiffness of the joint was analyzed. Finally，the multivariate nonlinear regression equation of joint stiffness，about floating position，valve control leakage and volume，was fitted based on MATLAB. And the comparison diagram of the initial stiffness scatters and the fitting four-dimensional curve was realized by the program. The results show that the stiffness of the flexible drive mechanism can be adjusted continuously in a wide range while ensuring good dynamic characteristics. © 2022 Editorial Board of Jilin University. All rights reserved.
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页码：1499 / 1508
页数：9
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