Research on HDD-UJ Robot Joint Structure Design and Motion Regulation Strategy

摘要

A heterogeneous double-drive universal joint (HDD-UJ) that can realize yaw motion and pitching motion is proposed. The virtual prototype model of the HDD-UJ is designed to determine the driving mechanism and motion form of the joint. By deducing the mathematical model of the displacement field of the "C"-shaped electrostrictive driving block, combined with the structural characteristics of the HDD-UJ, a motion regulation strategy is proposed and its mathematical model is established. Finally, in order to verify the rationality and effectiveness of the motion regulation strategy, the simulation experiments under three conditions of ideal, error, and regulation are carried out. The experimental results show that the HDD-UJ combines the electrostrictive material with the motion regulation strategy, which greatly reduces the joint motion error and improves the motion stability.