多关节液压机械臂结构设计∗

摘要

在阐述工业机器人机械臂液压控制系统工作原理的基础上，对液压机械臂结构进行设计，给出了液压机械臂的体系结构，绘制出了液压控制系统图，分析了液压系统的控制时序，提供了液压机械臂结构设计的流程，为液压机械臂的技术实现奠定了基础，是对机械臂试验设计的有益探讨。%Based on the working principle of hydraulic control for industrial robot manipulator,a structural design has been done,hydraulic mechanical arm architecture is given,draw the sequence diagram,and proceed to analyze the sequence control of the hydraulic system.Providing the complete process for hydraulic structure design of mechanical arm,lay a foun-dation for the technical implementation on hydraulic mechanical arm,and it is beneficial to the experimental design.