TY - JOUR
T1 - Design of a hydraulic-driven manipulator and analysis of its joint driving
AU - Gao, Jinpeng
AU - Xiong, Hegen
AU - Tao, Yong
AU - Liu, Hui
AU - Xie, Guang
N1 - Publisher Copyright:
© 2017, Executive Office of the Journal. All right reserved.
PY - 2017/2/1
Y1 - 2017/2/1
N2 - 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.
AB - 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.
KW - Control of joint driving
KW - D-H kinematic equation
KW - Hydraulic swing cylinder
KW - Pulse width modulation (PWM) duty cycle
KW - Series manipulator
KW - Speed regulation
UR - https://www.scopus.com/pages/publications/85021139589
U2 - 10.3772/j.issn.1002-0470.2017.02.010
DO - 10.3772/j.issn.1002-0470.2017.02.010
M3 - 文章
AN - SCOPUS:85021139589
SN - 1002-0470
VL - 27
SP - 177
EP - 183
JO - Gaojishu Tongxin/Chinese High Technology Letters
JF - Gaojishu Tongxin/Chinese High Technology Letters
IS - 2
ER -