Characteristic analysis and motion control of a novel ball double-screw hydraulic robot joint

The hydraulic joint is the key driving component of a robot. To reduce size robot, and improve control accuracy dynamic response performance, this paper proposes novel structure method ball double-screw Using circular arc spiral groove transmission, has small transmission friction coefficient, compact overall higher accuracy. Aiming to resolve problems low motion instability caused by temperature drift in valve-controlled systems, high-precision based on adaptive fuzzy compensation used stability. static characteristics designed are analyzed simulation. A test platform was built, physical prototype underwent testing, control, amplitude frequency trajectory tracking tests. experimental results were similar simulation results. robot starting pressure, high energy density, fast response, attenuation pressure 0.5 MPa, maximum swing 3 Hz, positioning ± 0.03°, 3.9° angular velocity at 10 MPa about 7.6 rad/s, which close actual human joint.