| The paper put forward the joint and configuration of the reconfigurationhydraulic robot based on summarizing the research status at home and abroad, theresearch of which is of both theoretical and practical value. In this paper, a new type ofhydraulic servo oscillating cylinder was designed characterized by axial oildistribution,based on which the reconfigurable automatic hydraulic servo robot rotaryjoint, the swing joint and the wrist joint with3degrees of freedom was designed. Thehydraulic servo joints above are of small volume, large torque, and easy to control.Carry out the kinematic analysis and the research on configuration of reconfigurablehydraulic servo robot, and use the genetic algorithm to optimize the configuration,work out the forward and inverse kinematics solution of the hydraulic servo robot byusing iterative method. This research above made due contributions to promote thedevelopment and application of hydraulic robot.1) A new kind of hydraulic servo oscillating cylinder was designed, and itstransfer function was calculated out to analysis the performance characteristics;2) Design the rotary joint, the knee swing,3DOF wrist joints of the reconfigurablehydraulic servo robot with hydraulic servo oscillating cylinder as the power element,and establish the D-H parameter database by determining various combinations and theconnection of two adjacent power joints, establish the kinematic equation when anytype of power modules of the reconfigurable hydraulic servo robot was determined bycalling the D-H parameter library;3) The inverse kinematic solution of the reconfigurable robot was received byusing the iterative method, and the error function as well as the threshold value wasdetermined;4) The optimized geometry was calculated out by using genetic algorithm, and thechange in the angle of the robot by using the iterative method with the minimum valueof the sum of the all the angles absolute value as the criterion for judgment after theset trajectory was finished. |
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