An Elbow of 7-DOF Hydraulic Manipulator Based on Double-screw-pair Transmission
LUO Gaosheng1, CHEN Jiawang2, GU Linyi1
1. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China;
2. Ocean College, Zhejiang University, Hangzhou 310058, China
The co-rotating and reverse screw direction configurations between inner and outer screw pairs in the double-screw-pair transmission are analyzed and compared, its kinematics and dynamics are modeled, and different ways of axis force compensation are chosen according to their different configurations and their screw leads. It is shown that the ratio between the output swing angle and the piston movement is larger in the reverse screw direction configuration between inner and outer screw pairs, while the output torque is larger in the co-rotating screw direction configuration. Through output axis force compensation in the double-screw-pair swing rotary actuator, the linearity relationship between input pressure and output torque can be guaranteed, and transmission efficiency is improved. By using the reverse screw direction configuration between inner and outer screw pairs of the double-screw-pair rotary actuator driving model, the models of two kinds of underwater hydraulic manipulator elbows are established, one with axis force compensation and the other without axis force compensation. The kinematics and dynamics relations in the reverse screw direction configuration between inner and outer screw pairs are verified through the driving experiments of two kinds of manipulator elbows, and the comparison of the output torques shows that the one with axis force compensation has better transmission characters than the other one.
[1] Shim H W, Jun B H, Lee P M, et al. Workspace control system of underwater tele-operated manipulators on an ROV[J]. Ocean Engineering, 2010, 37(11/12): 1036-1047.[2] Rivin E I. Mechanical design of robots[M]. New York, USA: McGraw-Hill, 1998: 22-48.[3] 晏勇, 马培荪, 王道炎, 等.深海ROV及其作业系统综述[J].机器人, 2005, 27(1):82-89.Yan Y, Ma P S, Wang D Y, et al. Development of deep sea ROV and its working system[J]. Robot, 2005, 27(1): 82-89.[4] 腾宇浩, 张将, 刘健.水下机器人多功能作业工具包[J].机器人, 2002, 24(6):492-496.Teng Y H, Zhang J, Liu J. Multifunctional task work package for underwater robot[J]. Robot, 2002, 24(6): 492-496.[5] 周海强, 陈道良.摆动液压缸内部结构改进设计[J].液压气动与密封, 2007, 27(6):32-34.Zhou H Q, Chen D L. Improvement design of internal configuration of swung hydraulic cylinder[J]. Hydraulics Pneumatics & Seals, 2007, 27(6): 32-34.[6] 李树立, 焦宗夏.叶片式摆动液压马达泄漏计算与控制[J].液压与气动, 2005(10):67-68.Li S L, Jiao Z X. Leakage calculation and control of vane hydraulic swing motor[J]. Chinese Hydraulics & Pneumatics, 2005(10): 67-68.[7] 蒋新松, 封锡盛, 王棣棠.水下机器人[M].沈阳:辽宁科学技术出版社, 2000:78-80.Jiang X S, Feng X S, Wang D T. Underwater robots[M]. Shenyang: Liaoning Science and Technology Publishing House, 2000: 78-80.[8] Geyer H M. Rotary actuator: USA, 2945387[P]. 1960-07-19.[9] Block H A. Fluid actuator for linear and rotary movements: USA, 2955579[P]. 1960-10-11.[10] 刘伟涛.360°双螺旋副旋转油缸内流动特性及效率研究[D].长沙:中南大学, 2010:37-40.Liu W T. Study on flow characteristics and efficiency of double helix pair hydraulic rotary actuator[D]. Changsha: Central South University, 2010: 37-40.[11] 李松柏.螺旋摆动液压缸动态特性的研究[D].长沙:中南大学, 2011:18-22.Li S B. Dynamic characteristics study of screw oscillating hydraulic cylinder[D] Changsha: Central South University, 2011: 18-22.[12] 石延平, 臧勇.螺旋摆动油缸的工作效率分析及提高方法[J].液压与气动, 2011(5):84-86.Shi Y P, Zang Y. Efficiency analysis and improving method of the screw rotary cylinder[J]. Chinese Hydraulics & Pneumatics, 2011(5): 84-86.
