Adaptive Hydraulic Drive of Manipulator
At present in manipulators the hydraulic drives with one degree of freedom are used. Such drive provides single-valued function of constraint between input and output links motion. However for overcoming of variable force of resistance it is necessary to use the variable transfer ratio between input and output links. The adjustable drive should contain the controlled gear box. Such drive contradicts the demand of minimization of weight and sizes of modules of the manipulator. Use of electronic control systems for force regulating leads to extreme complication of drives, decrease in their reliability, raise of cost of manufacturing and maintenance.Recently the adaptive self-controlled mechanical systems were appeared. By analogy to the adaptive mechanism the hydraulic adaptive mechanism which provides force self-regulation without a control system has been developed and the patent for invention was received.In paper the description and research of the adaptive hydraulic mechanism and creation of the manipulator module with the simplest compact hydraulic drive are adduced.
Prof.univ. Adrian Olaru
K. S. Ivanov and B. Tultayev, "Adaptive Hydraulic Drive of Manipulator", Applied Mechanics and Materials, Vol. 841, pp. 215-220, 2016