| Rotary vane actuator is one of the most important actuator in driving system and can be used for the swing joint drive of hydraulic manipulator,the core Part of the hydraulic manipulator.It has the advantages of compact structure,heavy load caPacity and wide rotation angle comPared with the commonly used joint actuators such as oscillating cylinder and linear cylinder.However,the internal leakage can seriously affect its dynamic performance,leading to its failure to be widely used.Aiming at this issue,the research work on the rotary vane actuator to be used for the hydraulic manipulator joint drive is carried out by the support of the national key research and development project "the development of the full depth rating deep-sea hydraulic manipulator".Combined with the actual working conditions of the hydraulic manipulator,the sealing leakage surface of rotary vane actuator is analyzed,a numerical analysis of the combined seal leakage mathematical model is established by the theory of hydrodynamic lubrication(EHL)theory and plane gap flow theory for different leakage surfaces.A reasonable combined sealing form,sealing material and sealing structure are designed by combining mathematical model with finite element analysis.On the basis of theoretical analysis,a complete three-dimensional model of rotary vane actuator is designed with Solidowrks,and ANSYS is used to analyze the strength of the key Parts of the rotary vane actuator,structure optimization and to design the manipulator joint prototype.Through setting up the experimental platform of rotary vane actuator,the output torque and internal leakage are tested.The working principle's correctness of the prototype and the rationality of the leakage theory model are verified through the comParison between the experimental result and the theoretical analysis.The theoretical and experimental basis are provided for the swing joint design of manipulator in the future. |
PDF Full Text Request