设计参数对水下机械手控制机构性能的影响

为研究设计参数对水下机械手的控制及操作性能的影响，以水下液压机械手单关节执行机构为研究对象，确定了下机械手的初始参数；基于流量连续性方程及力平衡方程，建立活塞输出位移对阀输入位移的传递函数以及负载力扰动的传递函数，并以速度放大系数，液压固有频率及液压阻尼比作为水下机械手控制机构的性能指标，详细分析各设计参数对水下液压机械手控制机构性能的影响。研究表明：减小控制阀的位移，增大弹性模量，减小控制阀两端的压差，可以改善控制机构的响应速度和稳定性，提高机械手的控制和操作性能。

Influence of design parameters on characteristic of control mechanism of underwater manipulator

In order to analyze the influence of design parameters on the control and operation performance of underwater manipulator, the simple joint actuator is selected as the research object and the initial parameters of underwater manipulator are determined. Based on the flow continuity equation and the force balance equation, the transfer function of the piston output displacement and the control valve input displacement and the load disturbance function are established. Meanwhile, the velocity amplification factor, hydraulic natural frequency and hydraulic damping ratio can be the performance indexes of control mechanism of underwater manipulator. Different design parameters have different performance indexes. So the influence of the design parameters on the control mechanism of underwater manipulator was analyzed in detail. The research shows that the control valve input displacement and the pressure differential is reduced and the elastic modulus is increased, the response rate and stability of the control mechanism are improved and the control and operation performance of underwater manipulator are enhanced.