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ZJS-1机械手采用电液伺服系统进行控制。本文给出了机械手伺服系统设计中的一般计算方法,并指出机械手回转系统的机械结构刚度较低会影响系统的固有频率的降低,又因液压阻尼系数的计算值的误差较大,因而用测试方法求取系统的固有特性是十分必要的,最后介绍了应用电气校正网络,综合了回转系统中增益与稳定性之间的矛盾,使机械手达到了予定的性能指标。
ZJS-1 robot using electro-hydraulic servo system control. In this paper, the general calculation method of robot servo system design is given. It is pointed out that the low mechanical rigidity of the robot rotary system will affect the decrease of the natural frequency of the system. Because of the large error of the calculated hydraulic damping coefficient, It is very necessary to get the inherent characteristics of the system by the method. Finally, the application of the electrical calibration network is introduced. The contradiction between the gain and the stability in the rotating system is integrated and the manipulator reaches the predetermined performance index.