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在许多场合中,机器人需要大负载和高功率密度驱动能力,液压驱动无疑是较好的驱动方式,然而传统液压系统复杂,限制了其在机器人驱动上的应用。提出了一种基于低油污染敏感度的新型机器人液压驱动技术,通过大幅度提升液压伺服元件的抗污染能力简化液压系统,介绍了应用液压元件浮动结构设计方法研制的一体化结构伺服油缸和三级双叶片伺服摆动缸在“高性能四足仿生机器人”和“新型液压驱动机械臂”项目中的应用,给出了一体化结构伺服油缸的性能测试结果。
In many cases, robots require large loads and high power density driving ability. Hydraulic driving is undoubtedly a better driving method. However, the complexity of the traditional hydraulic system limits its application in robot driving. A new type of robot hydraulic drive technology based on the sensitivity of low oil pollution is proposed to simplify the hydraulic system by greatly improving the anti-pollution ability of hydraulic servo components. The integrated structure servo cylinder developed by the design method of hydraulic components floating structure is introduced. Level dual-blade servo swing cylinder in “high performance quadruped bionic robot” and “new hydraulic driven robot arm” project, the performance test result of integrated structure servo cylinder is given.