| With the rapid development of today’s technology, robotics technology has been widely applied. As robots matures,some factors restricting its development also gradually revealed.Currently the general application of robotics often can not guarantee its precise positioning accuracy when it is on its own weight or greater load.Larger equipment and parts handling, assembly still need the help of a manual crane due to higher accuracy requirements.So overloaded robotic precision positioning technology has become one of the future trends of the robot.This paper puts forward a new hydraulic motor and servo motorcoordination control implementation of key technology of compound driveon an overloaded joint of robot arm. Composite driven by hydraulic motor has the advantages of small size, high output force servo motor positioning precision high characteristic, can greatly improve the comprehensive performance ofheavy duty robot.Composite drive consists of a hydraulic motor, hydraulic proportional control system, articulated arm,torque sensor, servo motor and encoder sensor. Driving joint arm torqueand servo motor actual angle position signal through real-time acquisition of hydraulic motor torque sensor and the encoder on the shaft of the servo motor, and compared with the controller given in the instruction settorque and angle values, pressure and flow control system of hydraulic proportional adjustment to adjust the hydraulic motor actual driving torque and angle error of servo motor always in its restricted range. So as to realize the servo motor by means of dual control on hydraulic motorload on the overloaded the joint of robot arm torque and angular position.Based on the study of existing hydraulic servo motor drive servo system, a physical model of the composite drive control system was established in this paper through theoretical analysis;Complex control strategies of drive control system was analyzed in detail to study its relationship between the hydraulic system and the motor system;Design and build a external control circuits of system was designed and built, software of the system was designed and a control application was compiled;The PWM pulse signal required for the system was carried out simulation tests, relevant experimental data and conclusions was obtained;Through the system of strategic analysis,the mathematical model of the composite drive control system was established in application of related knowledge of the hydraulic servo motor servo systems.From this perspective of torque nature, the proof of servo motor system is reasonable and complex hydraulic system generated total torque theoretically has once again proven the correctness of complex servo drives. In theory, demonstrate the validity of the composite servo drive again. Through the system of the test, Make the compound drive system to complete the corresponding action, analyze the test data and research, To verify the feasibility and rationality of compound drive control technology. |
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