Hydraulic Manipulator With High Load/weight Ratio And Design Of Wobble Plate Hydraulic Joint

In recent years,the manipulator has been widely used to as a substitute for human being to carry out rescue,discharge and other tasks in the dangerous,harsh environment,while such high load operation requires the light weight,high load capacity characteristic of the manipulator.Therefore,it is an urgent problem to improve the load/weight ratio of the heavy-duty manipulator.The aim of this paper is to solve the problem that the load/weight ratio of the manipulator with large load capacity is low.In this paper,a design scheme of high load/weight ratio manipulator is proposed,and the characteristics and efficiency of the manipulator are studied.In order to improve the energy efficiency of the hydraulic drive system of the manipulator,the hydraulic joint of the manipulator is optimized.A new type of hydraulic joint is proposed,and the load matching controller is designed to realize the energy saving control.The main studies of this paper are as follows:1)The research status of the manipulator with high load-weight ratio at home and abroad is investigated.The existing methods of lifting load/weight ratio of manipulator are summarized.The relationship between the efficiency of the hydraulic manipulator drive system and the load-weight ratio is analyzed,and the research status of the hydraulic drive system efficiency of the manipulator is investigated and summarized.2)Based on the design index,the design of the robot arm is determined.Combined with the bionic mechanism,the configuration of the manipulator is designed.The parameter model of arm length based on bionics and bearing capacity is established,and the joint parameters of the manipulator are designed,which provides the basis for determining the size of the manipulator with high load/weight radio.With the mechanical structure of the manipulator designed,the virtual prototype of the manipulator is constructed.3)The analysis of the characteristics of the manipulator with high load/weight ratio is completed.The relationship between the trajectory in the end and the joint space is established through the kinematics analysis.Based on task assignments,the movement of the manipulator has been planned.The dynamic model of the manipulator is established,and the joint load characteristics are obtained by simulation.4)The efficiency of the hydraulic drive system of the manipulator is analyzed,and the influencing factors of the efficiency of driving system are analyzed.A new hydraulic joint is proposed,and the mathematical model of the hydraulic joint is established,and the load matching controller is designed.5)The energy saving control of wobble plate hydraulic joint is simulated and verified.The results show that the hydraulic joint can improve the energy efficiency while keep the accuracy.A robot manipulator prototype with high load/weight ratio was developed and tested.With the large load capacity of the manipulator verified,the influence of different parameters on the performance of the manipulator is studied by experiment.