Trajectory Planning for a Hydraulic Direct-Driven Joint Robot

摘要

With the heavy load demand to the robot, hydraulic robot is pay more attention. The paper presents a six degree of freedom hydraulic joint robot. The six degree of freedom hydraulic joint robot is consists of base, waist, upper arm, median arm, lower arm, wrist, and hand parts. Firstly the trajectory equation of the six degree of freedom hydraulic joint robot is built based on Trajectory plans of the joints with cubic polynomial interpolation method, then the relationship between the speed of each joint of the robot and the flow of the hydraulic system is attained based on the motor flow equation and trajectory equation of the robot. A trajectory simulation of the six degree of freedom hydraulic joint robot is done, and the simulation results display that the robot has good kinematic characteristics in the work time and finishes a variety of complex movements.