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提出并实现了一种新型的旋转液压伺服关节,阐述了该关节的结构组成及工作原理,建立了动力学模型.通过遗传算法对该关节进行了结构优化,获得了关节中工作腔内径为28.3mm、工作腔长度为38mm及工作腔宽度为18.8mm的优化值,并在此基础上进行了动态仿真及特性分析.仿真结果表明:优化后的关节具有更好的跟随性能和更大的输出力矩.特性分析指出该关节还具有结构简单、易于加工、阀芯径向力平衡和工作运动范围大等特点.
A new type of rotary hydraulic servo joint was proposed and its structure and working principle were explained and a dynamic model was established.The structure of the joint was optimized by genetic algorithm.The inner diameter of working cavity in the joint was 28.3 mm, the working cavity length is 38mm and the working cavity width is 18.8mm, the dynamic simulation and characteristic analysis are carried out on the basis of the simulation results.The simulation results show that the optimized joint has better following performance and larger output Torque.The characteristic analysis points out that the joint also has the advantages of simple structure, easy processing, large radial force balance and large working range.