Analysis of motion characteristics of three degrees of freedom decoupling hydraulic self-servo joint Online publication date: Tue, 27-Mar-2018
by Lin Jiang; Zhi-chao Zhu; Ruo-lin Wu
International Journal of Computing Science and Mathematics (IJCSM), Vol. 9, No. 1, 2018
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.
Online publication date: Tue, 27-Mar-2018
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