産業用ロボットの駆動機構に関する基礎的研究 : (第 1 報 : 油圧サーボ系の伝達関数と周波数応答)
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概要
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This paper deals with a fundamental study on the driving mechanism of industrial robots. The transfer function of hydraulic servo system, which is used widely in the industrial robots, is derived analytically by considering the effects of oil leakage, oil compressibility, pressure drop in lines, underlaps of servo valves and asymmetricity of cylinders. Moreover, the gains and phases of the servo system are calculated and the characteristics of frequency response are discussed. The results obtained show that the oil leakage and the pressure drop in lines decrease the gains and phases considerably.
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