液压伺服柔驱机构设计及其刚度连续可调分析

doi:10.13229/j.cnki.jdxbgxb20210049

摘要/Abstract

摘要：

为满足液压机械臂工作时输出高刚度，碰撞时变刚度实现柔顺性，让机器人在不同工作条件和场景下具有相应的柔顺性，设计了一种兼具阀控泄漏量和浮动位的液压伺服柔驱机构。首先，介绍该关节结构和变刚度原理；其次，利用Amesim建立其动态仿真模型，确定阀控泄漏量和浮动位半径范围；然后，利用MATLAB/Simulink建立其刚度仿真模型，分析单个因素与关节变刚度的关系；最后，基于MATLAB拟合关节刚度多元非线性回归方程，并通过程序实现刚度初始散点和拟合四维曲线对比图。仿真结果表明：在保证较好的动态特性时，该柔驱机构刚度能在较宽范围内连续可调。

关键词: 机械电子工程, 阀控泄漏量, 浮动位, 多元非线性回归, 刚度连续可调

Abstract:

In order that the hydraulic manipulator outputs high stiffness while working，and changes stiffness to realize compliance while collision， the robot has corresponding flexibility under different working conditions and scenarios. A hydraulic servo flexible drive mechanism with both valve-controlled leakage and floating position was designed. Stiffness was reduced by internal and external unloading， so the robot could improve the safety of man-machine physical contact. Firstly， the joint structure and the principle of variable stiffness were introduced. Then， the dynamic simulation model was established by AMESim. The ranges of the valve controlled leakage and the radius of floating leakage were determined， when the following characteristics and motion characteristics of the mechanism were good. Next， the stiffness simulation model was established by MATLAB/Simulink， stiffness scatter values under different working conditions were obtained by simulation. Then the relationship between the single factor and the variable stiffness of the joint was analyzed. Finally， the multivariate nonlinear regression equation of joint stiffness， about floating position， valve control leakage and volume， was fitted based on MATLAB. And the comparison diagram of the initial stiffness scatters and the fitting four-dimensional curve was realized by the program. The results show that the stiffness of the flexible drive mechanism can be adjusted continuously in a wide range while ensuring good dynamic characteristics.

Key words: mechatronic engineering, valve-controlled leakage, floating position, multivariate nonlinear regression, stiffness continuously adjusted

中图分类号:

TH12

蒋林,周玲,赵慧. 液压伺服柔驱机构设计及其刚度连续可调分析[J]. 吉林大学学报(工学版), 2022, 52(7): 1499-1508.

Lin JIANG,Ling ZHOU,Hui ZHAO. Design and stiffness continuously adjustable analysis of hydraulic servo flexible drive mechanism[J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(7): 1499-1508.

图/表 18

图1

图2

图3

图4

表1

图5

图6

图7

图8

表2

刚度仿真模型主要参数"

参数名称	数值
油膜宽度nπ/Dm	0.01
油膜长度l/m	0.08
油液的动力黏度μ/（Pa·s）	0.05
外力输入时产生的压差ΔP/Pa	2×10⁶
工作腔内径r $1$ /m	0.025
工作腔长度L/m	0.0731
工作腔长度R/m	0.0382
容积V $t$ /m $3$	1.26×10^-4
阀口流量系数C $d$	0.65
内泄漏q $n$ /（m $3$ ·s $- 1$ ）	1×10^-9
油液密度ρ/（kg·m $- 3$ ）	850

表2

图9

图10

图11

图12

图13

表3

表4

图14

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参数	参数值
滑阀凸肩直径/mm	40
阀芯直径/mm	25
摆动缸负载惯性矩/（kg·m²）	0.4
摆动缸粘滞摩擦因数/［N·m·（rev·min^-1）］	0.8
摆动缸两端死区体积/cm³	10
顺序阀弹簧力/MPa	7
节流孔直径/mm	6
旁通阀台肩直径/mm	8
旁通阀阀芯直径/mm	4
旁通阀质量/kg	0.010
旁通阀弹簧刚度/（N·mm^-1）	20
电机转速/（r·min^-1）	1500
泵的排量/（mL·r^-1）	100
溢流阀限制压力/MPa	15
转角增益值	1e^-5
外负载力矩/（N·m）	40

P_s/ MPa	V_t/ （10^-4m³）	q_x/ （10^-5m³·s^-1）	r_f/（10^-3m）	K_h/（Pa· m³·rad^-2）
10	1.26	0.07	0.45	470 80
10	1.26	0.47	0.55	464 60
10	1.26	0.87	0.65	459 30
10	1.26	1.27	0.75	454 50
10	1.36	0.07	0.45	436 10
10	1.36	0.47	0.55	430 50
10	1.36	0.87	0.65	425 50
10	1.36	1.27	0.75	421 10
10	1.46	0.07	0.45	406 30
10	1.46	0.47	0.55	401 00
10	1.46	0.87	0.65	396 40
10	1.46	1.27	0.75	392 20
10	1.56	0.07	0.45	380 20
10	1.56	0.47	0.55	375 30
10	1.56	0.87	0.65	371 00
10	1.56	1.27	0.75	367 10
12	1.26	0.47	0.65	463 80
12	1.36	0.07	0.75	426 50
12	1.46	1.27	0.45	405 70
12	1.56	0.87	0.55	377 30
14	1.26	0.87	0.75	461 30
14	1.36	1.27	0.65	430 40
14	1.46	0.07	0.55	407 40
14	1.56	0.47	0.45	384 10
16	1.26	1.27	0.55	470 60
16	1.36	0.87	0.45	441 10
16	1.46	0.47	0.75	400 50
16	1.56	0.07	0.65	379 10

	回归系数	置信区间
b₀	129 321.5	［123 515.7 135 127.3］
b₁	128.0	［-56.3 312.3］
b₂	-0.6	［-7.7 6.4］
b₃	-92 625.0	［-100 604.1 -846 45.9］
b₄	22 250.0	［19 422.0 25 078.0］
b₅	-341.1	［-586.2 -96.0］
b₆	101.6	［-75.2 278.3］
b₇	-5 075.0	［-8 478.1 -1 672.0］
b₈	1 000.0	［-1 828.0 3 828.0］

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