{"title":"基于旋转叶片作动器的柔性液压机械手轨迹规划研究","authors":"Jing-rong Liu, Liangxi Xie, Zhong-zheng Luo","doi":"10.1109/CRC.2019.00019","DOIUrl":null,"url":null,"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.","PeriodicalId":300065,"journal":{"name":"International Conference on Cybernetics, Robotics and Control","volume":"29 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Research on Trajectory Planning of Flexible Hydraulic Manipulator Based on Rotary Vane Actuator\",\"authors\":\"Jing-rong Liu, Liangxi Xie, Zhong-zheng Luo\",\"doi\":\"10.1109/CRC.2019.00019\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":300065,\"journal\":{\"name\":\"International Conference on Cybernetics, Robotics and Control\",\"volume\":\"29 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1900-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Conference on Cybernetics, Robotics and Control\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CRC.2019.00019\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Conference on Cybernetics, Robotics and Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CRC.2019.00019","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Research on Trajectory Planning of Flexible Hydraulic Manipulator Based on Rotary Vane Actuator
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.
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