Design and Performance Analysis of a new Rotary Hydraulic Joint

[摘要] To improve the driving torque of the robots joint, a wobble plate hydraulic joint is proposed, and the structure and working principle are described. Then mathematical models of kinematics and dynamics was established. On the basis of this, dynamic simulation and characteristic analysis are carried out. Results show that the motion curve of the joint is continuous and the impact is small. Moreover the output torque of the joint characterized by simple structure and easy processing is large and can be rotated continuously.

[发布机构] Department of Mechanical Engineering, National University of Defense Technology, Changsha; 410073, China^1

[效力级别] 无线电电子学

[关键词] Characteristic analysis;Driving torques;Kinematics and dynamics;Motion curve;Output torque;Performance analysis;Simple structures