基于电液作动器技术的机器人关节微型驱动系统

针对机器人要求驱动器结构紧凑、输出力矩大、响应快速等,提出了一种基于电液作动器技术的机器人关节微型驱动系统。该系统将电动机、泵及负载融为一体,结构简单,布置灵活,能提供较大的系统压力。在磁路分析基础上,建立了电磁式脉冲柱塞泵模型及等效电路,描述了磁场分布及活塞运动对电磁系统的影响。基于机、电、液一体化特征,建立了关节驱动系统工作过程仿真模型,探讨了负载与系统电流的变化关系。仿真及实验结果表明:该系统能够提供最大2.5 MPa负载压力,能够在0～2.4 MPa压力范围内稳定工作,系统压力响应达到1.2 MPa/s,能够满足机器人关节的工作需要。

Micro Driving System for Robot Joint Based on Electro-hydrostatic Actuation Technology

According to the requirements for the compact structure,large torque,fast response and the other performances of driving system in robot,a joint driving system based on electro-hydrostatic actuation(EHA) technology was proposed.Linear motor,pump and load were integrated to provide larger pressure,simple structure and smart configuration.From the analysis in the magnetic circuit,the electromagnetic piston pump model and its equivalent magnetic circuit were developed to describe the magnetic field and its effect caused by piston’s movement in electromagnetic piston pump.Based on character integrated in mechanical,electrical and hydraulic,the working process model of driving system was built to explore relations between load and system current.Simulation and experimental results show that the proposed system can supply the maximum load pressure of 2.5 MPa,work stably at 0~2.4 MPa,and reach 1.2 MPa/s in pressure response.The proposed driving system can meet the requirements in the robot joint driving.