Design of hydraulic servo manipulator with five degree of freedom

NI Jing1, CHENG Le-ping1, LIU Xiang-qi2, LI Bin1

(1.School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China;

2. School of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou 310018, China)

Abstract: Aiming at the actual production problems of hydraulic manipulator, a five freedom hydraulic manipulator was introduced to meet high load, high positional accuracy, high productivity and other requirements of the high-power load handling. The manipulator was designed with five degrees of freedom which include gripping mechanism, tilt mechanism, sliding mechanism and slewing mechanism to achieve multi-degree of freedom of the automatic load positioning, clamping and transfer functions. The rationality of the design was verified by the analysis of the manipulator kinematics and simulation results of the end actuator trajectory. Hydraulic manipulator system was designed, including the loop of gripping mechanism drive, the loop of tilt mechanism drive, the loop of sliding mechanism drive, the loop of slewing mechanism drive, and components were selected, parameters were calculated. Siemens controllers and electro-hydraulic servo control technology were used to achieve a high performance of motion control. The research results show that, the hydraulic manipulator has a simple structure, stable operation, required accuracy, and high transfer efficiency. It can be better able to solve handling production problems.