| Six degrees of freedom rotating hydraulic servo robot belonged to a form of series of reconfigurable modular robot.As its basic components,the improved rotation hydraulic servo joint formed two basic modules which were rotary and oscillating module.And simply using the two kinds of joint modules,6-DOF rotating hydraulic servo robot configurations could have good sport performance to a certain extent.Compared with rotate hydraulic servo joint,6-DOF hydraulic servo robot not only inherited the advantages,but also formed different connecting combination through the joint module and connecting rod module.It improved reconfigurability and the ability to adapt to the complex environment.In view of the new type of rotating joint assembly was difficult,the machining accuracy requirement was high,could appear in the wrong,to the high pressure oil leakage could occur,and so on and so forth,to improve the rotating hydraulic servo joint.In order to better adapt to the actual environment and increasing the reconfigurable,rotary module,swing module,connecting rod module,base module and the end of the execution module were designed based on the joint and six degree of freedom hydraulic rotary servo robot were also designed based on the two joint module,the specific work was as follows:(1)The new type of rotating hydraulic servo joint was modified,the rotary and swing module based on this joint were designed,and six degrees of freedom rotating hydraulic servo robot was formed based on this joint,a unified solution of the forward and inverse kinematics of the six degree of freedom rotary hydraulic servo robot based on genetic algorithm and exponential product method was presented,and the feasibility and adaptability of the method were verified.(2)Link module and auxiliary module of the six degree of freedom hydraulic rotary servo robot and they forms were been designed.According to eliminate principles,nine joint configuration of the six degree of freedom hydraulic rotary servo robot were elected.Optimal configuration was selected through the genetic algorithmto solve the function evaluation index,and the correctness of the optimal configuration was verified by trajectory planning.(3)Six degree of freedom hydraulic rotary servo robot simplified model built in PROE could been imported into Simmechannis to generate robot sub module,the rotating module variables of time function,the dynamic model of robot were established,the dynamic trajectory comparison chart was drew,robot driving force and the sine function was calculated as input for the workspace of the robot.(4)The valve body and swing part as the key components in six degrees of freedom rotating hydraulic servo robot were been done the coupled analysis in ANSYS Workbench,statics and fatigue analysis was carried out on the swing components,fluid-structure interaction analysis was carried out on the blade and sealing strip,and the rationality of its design was verified. |
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