| Robotics is a very important and interesting research field in the 21st century, which indicates the whole level of science and technology in one country. One of the most advanced fields in the study of robotics domain is the robot joint, for the performance of the robot joint will determine the whole capability of the robot system. The joint designing has the requirements of small size, light weight, large output torque, wide motion area etc. The hydraulic drive mode, which has the character of great ratio between power and weight, huge load capacity, smart structure etc, can fulfill all the design demands. On the basis of summarizing all kinds of latest research achievements on the robot joint, a novel hydraulic servo joint, which has three degree-of-freedom (DOF) and the character of motion decoupling, is proposed and studied in this paper. The kinematics and dynamics properties of this new robot joint will be also analyzed and discussed.Firstly, according to the idea that the control system of a three DOF robot joint will be greatly simplified, if this joint can satisfy the demand of motion decoupling, the decoupling scheme of this three DOF joint is put forward. Many up-to-date design techniques like the concurrent design, three dimensions modeling, integrated method are adopted in the process of collectivity scheme conceiving.During the period of the structure designing, the mode of modularization, integration, miniaturization and the structure optimization is introduced to obtain the goal of simplifying the pipeline, reducing the leak of the hydraulic cylinder, decreasing the manufacture and maintenance costs of this manipulator system, overcoming the shortcomings of some traditional hydraulic systems effectively. The practicability, flexibility and reliability of this advanced hydraulic joint is demonstrated according to its' remarkable characteristic of decoupling, tracking, avoiding the obstacle.The dynamic model of this hydraulic servo joint is established by the hydraulic simulation theory and the lagrangian equation respectively. Furthermore, the dynamics property of this joint system is comprehended through the simulating, comparing and analyzing. All the results show the dynamic stabilization of this joint system. Thedynamics research will make a solid foundation for the control system designing.The kinematics model of this joint is set up according to the feature of spherical coordinate joint. The algorithms to solve the kinetic equation are also discussed in this thesis. Using the Niche Genetic Algorithms and the simplex method, basing on this three DOF manipulator, the control algorithms are programmed. The simulation, instance analyzing and path planning show a good result.Finally, in this paper, the research on the three DOF decoupling hydraulic servo joint has gained many elementary accomplishments. This joint has the merits of novel conceived, compact structure, reasonable arrangement, large output torque, convenient to control etc. We think firmly the performance of this joint system will be largely improved in the future. And the manipulator based on this novel joint, will play an important role in the technical enhancement and popularization of the industrial robot. |
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