| In recent years,industrial robots have made great progress.As the most widely used mechanical device in the field of industrial robots,the manipulator plays an important role in the manufacturing industry.In this paper,the variable hydraulic system which takes load sensitive variable pump instead of quantitative pump as power output component is designed to solve the energy waste problem of traditional special manipulator hydraulic system.Firstly,according to the specific design requirements of the manipulator,the paper combines the theoretical calculation and the software design to design the overall structure and relevant theoretical calculation of the manipulator,which provides theoretical support for the next design of the hydraulic system of the manipulator.Then,this paper applies the load sensitive pump control system to the hydraulic system of the special handling manipulator,and optimizes the original quantitative hydraulic system,from which the valve-controlled load sensitive hydraulic control system is constructed.The variable hydraulic system can adjust the output pressure and flow of variable pump according to the feedback signal of working load to achieve the purpose of energy saving.At the same time,the compensation mechanism after adding valve in the hydraulic circuit makes the flow in the hydraulic circuit not be affected by the change of load force,and ensures the stability of the manipulator.The parametric model of the load sensitive hydraulic control system with compensation after the manipulator valve is established by using AMESim parametric modeling and simulation analysis.The simulation results show that the hydraulic system can not only meet the basic requirements of operation,but also can automatically adjust the output pressure of variable pump under different external load pressure,so that the maximum pressure in the circuit and the pressure difference of the output pressure of the hydraulic system can be kept at the setting value of about 1.2MPa.In addition,the proportional servo control module,the control module of the lumbar rotary hydraulic motor and the hydraulic coupling system of the hydraulic system are simulated and analyzed,which fully verifies the correctness of the load sensitive hydraulic control system with valve back compensation..Finally,the joint simulation model of ADAMS and AMESim information interaction is established and verified the servo position control and hydraulic cylinder motion parameters in the hydraulic system.The simulation results show that the parameter setting of different hydraulic cylinder PID control in the hydraulic system has a direct influence on the control effect.In order to seek the ideal control effect,the parameters P and I can obtain the ideal control effect. |
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