Research on Space Pose and Hydraulic System Stability of Remote-controlled Demolition Robot

被引：0

作者：

Wang Ming-zheng ^{[1
]}

Luo Ming ^{[2
]}

Cen Yu-wan ^{[3
]}

Huang Jian-zhong ^{[1
]}

机构：

[1] Anhui Univ Technol, Sch Mech Engn, Maanshan 243002, Anhui, Peoples R China

[2] Giant Hydraul Tech Co MAANSHAN, Maanshan 243002, Anhui, Peoples R China

[3] Natl Machine Qual Supervis & Inspect Ctr MAANSHAN, Maanshan 243002, Anhui, Peoples R China

来源：

2018 5TH INTERNATIONAL CONFERENCE ON INFORMATION SCIENCE AND CONTROL ENGINEERING (ICISCE 2018) | 2018年

关键词：

remote-controlled demolition robot; natural frequency; equivalent mass; stability analysis;

D O I：

10.1109/ICISCE.2018.00199

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The natural frequency of loaded hydraulic cylinder is an important factor that affects the dynamic characteristics and stability of the system. In this paper, the mathematical model of the hydraulic valve controlled cylinder system is established by taking the base arm and the end arm of the remote-controlled demolition robot as an example. Based on the kinetic energy principle, the estimation formula between the equivalent mass of the hydraulic cylinder and the rotation angle of the manipulator is given, and the extreme range of the equivalent mass inferred from the natural frequency of the cylinder is analyzed. Through experiments on the frequency characteristics of the remote-controlled demolition robot, it has proven that the estimation formula of the equivalent mass proposed in this paper is effective. This method can be used in the engineering design of the stability and dynamic characteristics of serial manipulator's hydraulic system of the remote-controlled demolition robot.

引用

页码：962 / 967

页数：6

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