Title: Analysis of motion characteristics of three degrees of freedom decoupling hydraulic self-servo joint

Authors: Lin Jiang; Zhi-chao Zhu; Ruo-lin Wu

Addresses: Key Laboratory of Metallurgical Equipment and Control Technology, Wuhan University of Science and Technology, 430081, Wuhan, Hubei, China ' Key Laboratory of Metallurgical Equipment and Control Technology, Wuhan University of Science and Technology, 430081, Wuhan, Hubei, China ' Key Laboratory of Metallurgical Equipment and Control Technology, Wuhan University of Science and Technology, 430081, Wuhan, Hubei, China

Abstract: Multi degree freedom robot joint has the common problems, such as its motion is coupled and not stable enough, the output torque is small. Aiming at these problems, a new hydraulic swing cylinder with radial oil distribution and single vane rotating angle self-servo valve is proposed. And based on this new hydraulic swing cylinder, three degrees freedom decoupling hydraulic self-servo joint with motion decoupling and larger workspace is designed in this paper. The motion decoupling of three degrees of freedom decoupling hydraulic self-servo joint is analysed and verified by using ADAMS software. The simulation results show that three degree freedom hydraulic joint has the characteristics of smooth motion, large output torque, and motion decoupling.

Keywords: rotating angle self-servo; radial oil distribution; motion decoupling; smooth motion; large output torque; hydraulic self-servo joint.

DOI: 10.1504/IJCSM.2018.090724

International Journal of Computing Science and Mathematics, 2018 Vol.9 No.1, pp.38 - 47

Received: 13 Jun 2016
Accepted: 31 May 2017

Published online: 27 Mar 2018 *

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