Continuously variable transmission (CVT) method and device for static fluid

A transmission device and variable technology, applied in transmission device, fluid transmission device, transmission device control and other directions, can solve the problem of incomplete constraint of the robot end trajectory, and achieve the control method is easy to implement, improve the operation feeling, and the device structure is simple. Effect
CN102011849BInactive Publication Date: 2013-01-09BEIHANG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
BEIHANG UNIV
Publication Date
2013-01-09
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a continuously variable transmission (CVT) method and device for static fluid, belonging to the technical field of fluid transmission and control. The device comprises more than two variable units, wherein each variable unit comprises a variable element and a rectifying device; the variable units are connected in series by oil pipelines to form a closed loop; due to the continuity of oils in the closed loop, the revolving speed relationship of the variable elements is determined on displacement relationships among the variable elements; and the variable elements which are taken as joints of a passive robot, and accurate control is carried out on the displacement of each variable element to acquire a relationship of transmission ratio of each joint, thus providing incomplete virtual constraint for end movement of the passive robot. Hydraulic transmission is used in the invention, thus mechanical clearness does not occur, and the oils can exert buffer action in actual working conditions. The displacement relationships among the variable elements are changed so as to realize the CVT; and the device has simple structure and the control method is easy to implement.
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Description

technical field

[0001] The invention relates to a hydrostatic continuously variable transmission (Continuously Variable Transmissions, CVT for short) method and device, belonging to the technical field of fluid transmission and control. Background technique

[0002] In multi-axis transmission work, the transmission ratio between the transmission shafts determines the motion generated by the compound transmission shafts. For example, the transmission ratio between the shafts of an articulated robot determines the end motion trajectory.

[0003] End line speed v=Jn=J[n 1 , n 2 ,...,n m ] T (J is the Jacobian matrix, n is the speed of each transmission shaft)

[0004] The robot usually independently drives and controls the movement of each axis according to the transmission relationship between the axes, that is, the motion trajectory of the end is controlled by controlling the motion speed and driving force of the end, which belongs to completely active control. In this w...

Claims

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