Structural Optimization And Dynamic Analysis Of Reconfigurable Robot Easy Control Hydraulic Servo Joint

The robotic joint is a basic and important element of the robot system whose performancedetermines the function of the reconfigurable robot. Based on the analysis and summaries of theprevious and latest research achievements on the reconfigurable robot joint and its controlsystem, a new type reconfigurable robot easy control hydraulic servo joint and its control systemwas designed and researched in this dissertation. The main work and conclusions of thisdissertation are as follows:1. An easy control hydraulic servo joint was designed. Based on the required performanceof the reconfigurable robot, an easy control hydraulic servo joint was designed, the structure,working principle and easy control mechanism of easy control hydraulic servo joint weresummarized. And the required performances of the easy control hydraulic servo joint werediscussed.2. The structure size of valve spool was optimized. The internal flow field was simulatedwith the software FLUENT, the results of simulation for different structure sizes were compared,the structure size was optimized, and a design with the mouth shortage was put forward.3. The internal flow field of this joint was simulated with the dynamic mesh and slip meshmodel. The pressure distributions, angular velocity and torque charts of the model at differenttime were obtained.4. With the Simulink module, the dynamic characteristic of this joint was analyzed. A twophase hybrid stepping motor was taken as the electricity-mechanical converter of this joint, PIDcontrol method was adopted for this joint, in considering the influence of inertia force andBernoulli force while the oil is flowing, the mathematics model for easy control hydraulic servojoint was established. With the Simulink module, the dynamic characteristic of this joint wasanalyzed, and the performance relationship with the structure parameters of this joint wasdiscussed. Based on this, the structural parameters which made this joint have best dynamiccharacteristics were determined. The results of simulation showed that the easy control hydraulicservo joint has a fairly fast response speed and a strong robustness.