Design and Dynamic Performance Analysis of an Electro-Hydraulic Robot Joint

An electro-hydraulic joint is the key component of a hydraulic joint robot, and its structure and performance importantly affect the working performance of the hydraulic robot. The electro-hydraulic joint mainly consists of pressure sensors, an electro-hydraulic proportional reversing valve, an electro-hydraulic proportional relief valve and the hydraulic motor, the electro-hydraulic proportional reversing valve controls the rotation direction and speed of the electro-hydraulic joint, while the electro-hydraulic proportional relief valve controls the working load. After introducing the mechanical and hydraulic system of the electro-hydraulic joint, simulation and experiments are built, and the output torque and speed change rule of the electro-hydraulic joint are analyzed. Structural characteristic and performance analysis of the electro-hydraulic joint lays the foundation of the control principle.