Low speed friction characteristics of swing hydraulic cylinder

摘要

In the hydraulic system, the swing cylinder is a kind of actuator which is similar to the hydraulic motor, commonly used in hydraulic servo control walking robot joints, and the need for the servo control system has the very high accuracy requirements, especially under the condition of low speed movement condition. In this paper, on the basis of access to information, this paper summarizes the factors affecting the effect of swinging cylinder performance, determines the purpose of the study and direction. Firstly, this paper discusses the mechanism of friction, calculates swinging cylinder all kinds of sealing mechanism of the friction, and builds the friction model of low speed condition. Secondly, in view of the above theory, this paper carries on the experimental verification, and analyzies the low speed crawling experiment of swinging cylinder. Finally, summarize the results of the swinging cylinder theory and experiment.