新型旋转液压自伺服关节设计与优化分析-design and optimization analysis of a new type of rotary hydraulic self-servo joint.docxVIP

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新型旋转液压自伺服关节设计与优化分析-design and optimization analysis of a new type of rotary hydraulic self-servo joint.docx

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新型旋转液压自伺服关节设计与优化分析-design and optimization analysis of a new type of rotary hydraulic self-servo joint

AbstractHydraulic robot joints are the basic components of hydraulic robot， whose performance have a direct impact on the overall performance of hydraulic robot. Hydraulic rotary self-servo technology which used small size and small torque motor to control large output torque angle by hydraulic servo mechanism combines hydraulic servo technology with motor control technology. This technology which has been successfully used in hydraulic robot joints can reduce the size of the hydraulic joints and implement oil channel built-in. According to the current problems and deficiencies of the hydraulic rotary self-servo technology， a new type of the rotary hydraulic self-servo joint was designed. The structure of the joint was optimized， and the joints relative characteristics were researched. These work will make due contributions to promote the development and application of hydraulic robots. The main work and conclusions of this dissertation are as follows:（1 ）Designed a new type of rotary hydraulic self-servo joint， and gave the main technical parameters and performance indicators of the joint.（2）Established the dynamic model and system simulation model of the joint， andoptimized the structure of the joint by genetic algorithm， the optimization parameters of joints working chamber were achieved. Dynamic simulation and characteristic analysis were carried out based on the optimized joint， the results showed that the optimized joint had better follow performance and greater output torque.（3）The dynamic numerical simulation of internal flow field in the optimized joint was conducted by the dynamic mesh model and UDF technology， and the instantaneous variation law of the pressure， flow rate， and leaves force of its internal flow field were analyzed. And some important factors which affected the dynamic response characteristies of the joint were discussed.（4）The simulation analysis of internal annular gap flow between spool and valve sleeve in the optimized joint was conduct