Research on Trajectory Planning of Flexible Hydraulic Manipulator Based on Rotary Vane Actuator

Abstract

Hydraulic manipulator are widely used in underwater detection, anti-terrorism, industrial palletizing and other fields. The research object of this paper is the self-developed Hydraulic Rotary Vane Actuator (RVA) as the joint of the six-degree-of-freedom hydraulic manipulator. The kinematics error model of the joint flexible hydraulic manipulator is established by the improved D-H method. The optimal joint angle is determined, and the error distribution in the optimal joint angle and the general joint angle is compared and analyzed. Finally, the rajectory planning is used to reduce the error distribution of End-Effector(EE), vibration and shock.