Hydraulic tandem elastic drive mechanism and experiment platform for testing same

Abstract

The invention belongs to the field of hydraulic servo control, and discloses a hydraulic tandem elastic drive mechanism. The hydraulic tandem elastic drive mechanism comprises a bottom plate, a hydraulic cylinder and an elastic unit, wherein a location frame is connected to the output shaft of the hydraulic cylinder; the elastic unit comprises a bearing unit, a guide shaft, compression spring seats and compression springs; the bearing unit comprises a bearing seat arranged on the bottom plate and a first linear bearing arranged in the bearing seat; two shaft rings are arranged on the guide shaft; two second linear bearings are installed on the guide shaft in a penetrating manner; the shaft shoulders of the two second linear bearings are located between two location plates; the corresponding compression spring seat is installed on the shaft shoulder of each second linear bearing; and the corresponding compression spring is installed on each compression spring seat and installed on the guide shaft in a penetrating manner. The hydraulic tandem elastic drive mechanism disclosed by the invention is capable of simulating the stretching and compressing action of a joint, is capable of transferring a drive force in a stretching direction and a compressing direction, occupies less space, and is light in weight.

Description

technical field [0001] The invention belongs to the field of hydraulic servo control, and more specifically relates to a hydraulic series elastic drive mechanism and an experimental platform for testing it. Background technique [0002] Joint bionic drive technology has become an important research direction in the field of robotics. In terms of joint force servo drives, since the reducer increases the output impedance of the motor while increasing the force and energy density of the motor drive, it also increases the dynamics of the motor. The complexity and nonlinearity of the modeling makes precise force control of motor drives difficult. Similarly, in terms of hydraulic actuators, precise force control of hydraulic actuators is difficult due to the effects of cylinder friction, leakage, non-linear flow of oil, and high output impedance of the actuator itself. Therefore, motor-driven systems or hydraulic-driven systems are more suitable for speed or position control rath...

AI Technical Summary

Problems solved by technology

However, the currently used series elastic drive unit generally has a complex structure and a large weight, which is not very convenient to use, and generally can only realize force transmission in a single direction

Moreover, relevant experiments are still needed to verify whether the drive unit can meet the design requirements, but the debugging of the experimental platform currently used is also relatively complicated, so that it takes a lot of time and manpower to conduct experiments on the series elastic drive unit

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