基于水压直驱的软体单元的动静态特性

陈英龙,闫迪,张增猛,宁大勇,弓永军

Static and dynamic characteristics of soft unit based on hydraulic straight drive

Ying-long CHEN,Di YAN,Zeng-meng ZHANG,Da-yong NING,Yong-jun GONG

表 1 水压直驱系统及软体单元仿真参数

Tab.1 Simulation parameters of hydraulic straight drive system and soft unit

参数 数值 参数 数值 k1 1 VL 2×10−3 L k2 80 u 9.19×10−6 kPa·s τ 0.01 s m 0.24 kg AL 1.726×10−3 m2 B1 1 A1 2×10−5 m2 B2 200 AW 3×10−4 m2 f0 30 N VW 5×10−4 L J 0.01 l 0.1 m K2 2.18×10−9 Pa