Structural Design and Energy Saving Control of Wobble Hydraulic Joint

doi:10.3901/JME.2018.20.180

Abstract

Abstract: To improve the efficiency of hydraulic drive mobile robot, a wobble plate hydraulic joint is proposed. The output torque of the joint characterized by simple structure and easy processing is large and can be rotated continuously. The joint has a plurality of hydraulic cylinders, whose chambers can be connected with the high-pressure oil circuit by controlling switching valves, so that the output torque of the joint can be matched with the load torque in the case where the load pressure of the joint is equal to the output pressure of pump. Therefore, this joint can reduce energy consumption by reducing throttling losses. The mechanical structure and principle of this joint are introduced in detail, and the load matching controller is designed, based on theoretical analysis of kinematics and dynamics. On the basis of this, the simulation experiment and analysis are carried out. Results show that the wobble-type hydraulic joint enables the output torque to match the load torque and ensure accurate location tracking, which is available to improve, which reduce energy consumption effectively.

Key words: efficiency, hydraulic joint, load matching, position tracking, wobble plate

CLC Number:

TP242

YANG Junhong, FENG Yong, SHANG Jianzhong, LUO Zirong, WANG Zhuo, WU Guoheng. Structural Design and Energy Saving Control of Wobble Hydraulic Joint[J]. Journal of Mechanical Engineering, 2018, 54(20): 180-188.

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