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Analysis of Dynamic Characteristics of Water Hydraulic Rotating Angle Self-Servo Robot Joint Actuator

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Abstract

Traditional hydraulic robot joints are usually large, because their actuators are controlled by separate servo valves. To reduce the size of robot joints, this study proposes a water-hydraulic rotating angle self-servo robot joint actuator with small size and high output torque by integrating with a control valve. A mathematical model of water hydraulic rotating angle self-servo robot joint actuator is established firstly based on its structure and working principle, followed by deriving and linearizing a governing equation. Then, an AMESim model of the robot joint actuator is established, and simulation is conducted to validate the proposed model. The results show that the input angle amplitude, external loads and water pressure have influence on the dynamic characteristics of robot joint actuator. Besides, when the robot joint actuator is optimized, it has smaller position following error and quicker velocity response.

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Acknowledgments

This work was supported by National Natural Science Foundation (61105086) of China and Self-Planned Task (SKLRS-2010-MS -12) of State Key Laboratory of Robotics and System (HIT).

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Authors and Affiliations

  1. Key Laboratory of Metallurgical Equipment and Control Technology, Wuhan University of Science and Technology, Wuhan, 430081, China

    Lin Jiang, Zhichao Zhu & Jianyang Zhu

  2. Intelligent Systems & Robotics Group, School of Computing, University of Portsmouth, Portsmouth, PO1 3HE, UK

    Honghai Liu

Authors
  1. Lin Jiang
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  2. Zhichao Zhu
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  3. Honghai Liu
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  4. Jianyang Zhu
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Correspondence to Lin Jiang.

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Jiang, L., Zhu, Z., Liu, H. et al. Analysis of Dynamic Characteristics of Water Hydraulic Rotating Angle Self-Servo Robot Joint Actuator. J Intell Robot Syst 92, 279–291 (2018). https://doi.org/10.1007/s10846-017-0741-0

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  • DOI: https://doi.org/10.1007/s10846-017-0741-0

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