Title :
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
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;
Conference_Titel :
Mechatronics and Automation (ICMA), 2012 International Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4673-1275-2
DOI :
10.1109/ICMA.2012.6285714
