Abstract
A new 6-DOF serial manipulator was designed, and its joint driving control method based on hydraulic swing cylinder was proposed. The manipulator arm is driven by two hydraulic cylinders which are perpendicular to each other, and the control signals are given by the closed loop control system which uses hydraulic drive and consists of the host computer, signal control card and potential sensor. The manipulator's 3-D model was constructed, the kinematics modeling was conducted by using the D-H method, and the forward kinematics analysis was performed. Finally, the experimental analysis of the manipulator joint control method based on hydraulic swinging cylinder was carried out, and the relationship between the running speed of the manipulator's joints and the duty cycle of the pulse width modulation (PWM) governor is obtained. The experiment gave the corresponding joint motion relationships to provide the references for the study of the control of series manipulator position and the motion path of a manipulator.
| Original language | English |
|---|---|
| Pages (from-to) | 177-183 |
| Number of pages | 7 |
| Journal | Gaojishu Tongxin/Chinese High Technology Letters |
| Volume | 27 |
| Issue number | 2 |
| DOIs | |
| State | Published - 1 Feb 2017 |
Keywords
- Control of joint driving
- D-H kinematic equation
- Hydraulic swing cylinder
- Pulse width modulation (PWM) duty cycle
- Series manipulator
- Speed regulation
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