| In recent years,the manufacturing industry has gradually undergone transformation and upgrading,with the development of robot technology.And more industrial robots have been applied to the production and manufacturing.Although this kind of industrial robot is usually efficient,but once there is an accident,it will cause more serious damage to equipment and even humans.According to the hydraulic servo principle and the compliant configuration theory,a follow-up impact hydraulic manipulator was designed,to solve the safety problem of man-machine physical contact of the hydraulic manipulator.Due to the large output torque of hydraulic transmission,the mechanical arm can’t be made compliant by traditional methods such as adding a flexible arm.And the simple active compliance control can’t resolve the collision at the moment of accidental collision.Therefore,the follow-up impact hydraulic manipulator composed of hydraulic passive compliant joints was proposed to solve this problem.Firstly,a new type of hydraulic passive compliant joint was designed,and the joint structure and related dynamic characteristics were studied.Then,the joint was used to form the follow-up impact hydraulic manipulator,so that the manipulator had a good self-resolving ability of collision crisis.Finally,the passive compliance of the follow-up impact hydraulic manipulator was deeply analyzed,revealing the role of passive compliance of the manipulator in resolving collision crisis.The specific work of this paper is as follows:(1)Firstly,a hydraulic passive compliant joint was designed and modeled by 3D drawing software.Then,the design process and working principle of the joint were introduced.Finally,the innovation of the joint was summarized.(2)The Visual simulation model of the joint was established,then the key parameters of the joint were simulated and analyzed,and the dynamic characteristics of the joint were obtained.The flexibility of the joint was studied and the passive compliance of the joint was verified.(3)A kind of follow-up impact hydraulic manipulator was designed,and the kinematics analysis of the manipulator was carried out to solve the motion workspace of the manipulator.Based on the Robotics Toolbox,the kinematics simulation of the manipulator was carried out to verify the rationality of the manipulator configuration.(4)A collision simulation experimental platform of the manipulator was built based on physical simulation system,then an algorithm collision based on detection was proposed to analyze the compliance of the manipulator,and a momentum deviation observer was designed to monitor the external moment.The flexible self-resolving ability of the manipulator to accidental collision was revealed by the multivariate nonlinear regression theory. |
