Design And Theory Research For The3DOF Reconfigurable Hydraulic Self-servo Motion Decoupling Joint

Reconfigurable robot joints are the key components of reconfigurable robot, theperformance of hydraulic joints will directly affect the overall performance of therobot. If we can obtain the hydraulic joints with better dynamic performance, theoverall performance of reconfigurable robot will be improved, and also the controlmodel of the robot is simplitied. Therefore, it is very important to study theperformance of reconfigurable robot joint.Currently, there are many problems in the study of reconfigurable robot joints,such as motion coupling, movement being not stable enough, the small output torque,large size joints, and hydraulic joint sealing being not good enough and so on. Aimedat the above problems, we designed the3DOF reconfigurable hydraulic self-servomotion decoupling joint. The research involves:(1) A single-blade hydraulic self-servo swing cylinder with theradial distribution of oil was proposed, and set up the model of the entire structurewas set up by Pro/E.The related dynamic model was established. The structure of thesingle-blade hydraulic self-servo swing cylinder was optimized based on the geneticalgorithms. Finally, a single-blade hydraulic self-servo swing cylinder with a smallsize joint, the large output torque, ease processing and good dynamic characteristicswas obtained.(2) The comparison of the three sealing types: gap sealing, O-type sealing anddoor-type sealing was proposed in this paper. Flow models under the three sealingwere established by Pro/E. The flow fields of the models were comparative analyzedthrough FLUENT and ultimately the optimal seal was identified.(3) The3DOF reconfigurable hydraulic self-servo joint with motion decouplingand large work space was designed, and the conditions of its motion decoupling wereanalyzed, and the validation of motion decoupling and large work space of the jointwas carried out by ADAMS.(4) The modal analysis of key components about the3DOF reconfigurablehydraulic self-servo motion decoupling joint and the overall joints was carried out byANSYS Workbench. By comparing the key components with the natural frequenciesand vibration of the overall joints, their resonance characteristics were obtained.