研制了采用液压驱动的水下作业灵巧手,3个手指在一个液压马达驱动下,同时张开或收拢.为了限定3个手指跟关节的运动范围,需要设计3个手指行程限位控制电路.从液压马达正反转、内外侧行程限位开关等输入信号入手,依据手指运动规律,列出4个输入信号和两个输出信号间关系的真值表,推导出输入和输出信号间逻辑表达式,并在此基础上设计出行程限位电路.为了便于修改电路的逻辑功能,减少电路板上集成电路数量,控制电路的逻辑运算功能借助可编程逻辑电路实现.

十、法拉利F1变速器 该系统本质上是传统的机械传动，由具有电子控制功能的液压伺服系统控制。在安装用于控制离合器行程、离合器接合和挡位选择运动的液压驱动器时，无须对离合器或蓟塞器进行修改。离合器踏板已经取消。

A prototype of hydraulically powered quadruped robot is presented.The aim of the research is to develop a versatile robot platform which could travel fleetly in outdoor terrain with long time of endurance and high load carrying ability.The current version is 1.1m long and 0.48 m wide,and weights about 150 kg.Each leg has four rotational joints driven by hydraulic cylinders and one passive translational joint with spring.The torso carries the control system and the power system.A novel control algorithm is developed based on a Spring-Loaded Inverted Pendulum model and the principle of joint function separation.The robot can not only cross a 150 mm high obstacle in static gait and trot at 2.5km/h and lkm/h on the level-ground and 10°sloped-terrain respectively,but also automatically keep balanced under lateral disturbance.In this paper,the mechanical structure and control systems are also discussed.Simulations and experiments are carried out to validate the design and algorithms.

介绍了液压驱动器的驱动工作原理和液压驱动器在刮板输送机减速器上的应用方法,应用该技术实现了刮板链制动、正反向运行、高低速运行和电气闭锁功能,从根本上解决了输送机在电动机驱动方式下进行各项作业时存在的速度快、惯性大、效率低、劳动强度大、安全性差以及制约安全生产的问题.

RPJ—X型喷浆机器人的大臂为一闭链机构并用液压油缸进行驱动，要建立其动力学方程，必须对电磁比例阀控制的液压驱动器动态特性进行分析，将两者结合在一起，可得出整个系统的动态方程，使其输入输出关系确定，为喷浆机器人的仿真实验及实际控制提供了重要依据。