【摘要】 设计了一种具有多重密封的旋转液压关节驱动器.首先,根据设计需求,对关节驱动器和动密封的结构进行参数设计;然后,对驱动器进行数学建模,得到关节驱动器电液位置伺服系统的传递函数,对系统进行稳定性分析,得到系统幅值裕量22. 3 d B,相位裕量88. 4°,对系统的极点进行分析,简化系统的传递函数和进行理论最佳PID参数设计;最后,对关节驱动器进行关节驱动系统的性能测试与验证实验.实验中测试了关节驱动器的带宽、密封效率以及悬吊和着地条件下步行实验的效果,实验结果表明,在额定压强10 MPa下系统带宽可达5. 6 Hz,驱动器的密封效率在70%以上.因而本设计的关节驱动器具有较大的带宽,良好的密封效果,可满足足式机器人高速步行的需求.更多还原

【Abstract】 A rotary hydraulic joint driver with multiple seals was designed. Firstly,the parameters of the joint actuator and the dynamic seals were designed based on the design requirement. Then,the mathematical model of the actuator was built to obtain the transfer function of the electro-hydraulic position servo system with joint driver. And the stability of the system was analyzed. The system amplitude margin is 22. 3 dB and the phase margin is 88. 4°. The pole of the system was analyzed,the transfer function of the system was simplified and the optimal PID parameter was designed. Finally,the performance test and verification experiments of the joint drive system were carried out,and the bandwidth,the sealing efficiency of the joint actuator and the effects of robot walking under suspended and grounded conditions were tested. The results show that at the rated pressure 10 MPa,the system bandwidth can reach 5. 6 Hz,the sealing efficiency of the driver was above 70%. Thus,the design of the joint actuator has the advantages of large bandwidth and good sealing effect,meeting the demands of high-speed walking of the legged robot.更多还原