Easy control hydraulic rotary self-servo reconfigurable decoupling hydraulic joint

Author

Lin, Jiang ; Jie, Zhao ; Wenchao, Wu ; Xianbao, Xiang ; Xinyuan, Chen ; Hui, Zhao ; Liangcai, Zeng

Author_Institution

State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China

fYear

2012

fDate

5-8 Aug. 2012

Firstpage

2361

Lastpage

2365

Abstract

Aiming at the problems in hydraulic rotary self-servo, a easy control hydraulic rotary self-servo technology was proposed. The problems in hydraulic rotary self-servo were just as follows: the hydraulic servo valve radial force is imbalance, the hydraulic spool clamping force and friction are large, and the dynamic properties of the spool become deterioration. Based on easy control hydraulic rotary self-servo technology, the reconfigurable decoupling hydraulic joint was designed. And the decoupling properties of this new joint were analysed. This new joint has reconfigurable performance, omni-directional work space and movement decoupling performance. The omnidirectional work space and movement decoupling performance were verified by simulation experiment.

Keywords

clamps; hydraulic control equipment; dynamic property; easy control; hydraulic rotary self-servo reconfigurable decoupling hydraulic joint; hydraulic servo valve radial force; hydraulic spool clamping force; movement decoupling performance; omnidirectional work space; reconfigurable performance; spool become deterioration; Equations; Force; Joints; Mathematical model; Robots; Servomotors; Valves; Hydraulic rotary self-servo; omni-directional work space; reconfigurable decoupling hydraulic joint;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2012 International Conference on

Conference_Location

Chengdu

Print_ISBN

978-1-4673-1275-2

Type

conf

DOI

10.1109/ICMA.2012.6285714

Filename

6285714