energies

Article
A Novel Energy-Efficient Wobble Plate Hydraulic
Joint for Mobile Robotic Manipulators
Delei Fang, Junhong Yang *, Jianzhong Shang, Zhuo Wang and Yong Feng
College of Mechatronic Engineering and Automation, National University of Defense Technology,
Changsha 410073, China; fangdelei365@126.com (D.F.); shangjianzhong18@126.com (J.S.);
z_wang@nudt.edu.cn (Z.W.); 15575940858@163.com (Y.F.)
* Correspondence: yangjunhong@nudt.edu.cn




Received: 21 September 2018; Accepted: 23 October 2018; Published: 26 October 2018


Abstract: At present, mobile robotic manipulators have been greatly developed. However, these
further promotions are limited by a low load capacity and short operation time. The above problems
can be improved by using a hydraulic drive mode and increasing the system energy efficiency.
In this paper, a novel energy-efficient wobble plate hydraulic joint is presented, which has the
characteristics of having a small size, lightweight, large load capacity, and high energy efficiency.
Based on the efficiency analysis in traditional robotic manipulators, this paper presents a novel
hydraulic joint with a multi-chamber drive structure. Kinematics model and dynamics model are both
established for the analysis of the mechanical characteristics, and the functional relationship between
the input and output is depicted by numerical simulation. Based on the structural characteristics
and control principle, the load matching controller is designed and specific control processes are
formulated. Combined with a strategy of load matching, the servo control system is established and
the energy-saving effect is verified by simulation. The result shows that the wobble plate hydraulic
joint can change connections between a high-pressure circuit and different working chambers,
which realizes the match between the output torque and load torque. With the load matching
controller, the energy consumption of the wobble plate joint is greatly reduced, which contributes
to a considerably improved energy efficiency. The research in this paper not only lays a theoretical
foundation for the development of a wobble plate hydraulic joint, but also provides guidance for the
improvement of the hydraulic system energy efficiency in mobile robotic manipulators.

Keywords: mobile robotic manipulator; hydraulic joint; energy saving; kinematics; dynamics; load
matching controller

1. Introduction
In recent years, the performance of mobile robotic manipulators have improved rapidly,
and research on mobile manipulators has become a hot topic today. In particular, some vehicular
robotic manipulators have been able to achieve entertainment services, environmental detection,
and other functions [1–4]. However, most current robotic manipulators which have a low load capacity
and short operation time cannot complete a large load and distant tasks well. Therefore, further
applications of the mobile robotic manipulator are seriously restricted.
Mobile robotic manipulators are installed on a mobile platform which can complete tasks of
grasping and transferring objects [5]. Load capacity and operation time are the main performance
indexes for a mobile manipulator. However, their values are related to the platform size, drive mode,
and volume of the energy storage. Therefore, more and more scholars use comprehensive performance
indicators to evaluate mobile manipulators, such as a load-weight ratio, the energy-density of the power
system, etc. By summarizing the technical features of existing manipulators, there are several ways to

Energies 2018, 11, 2915; doi:10.3390/en11112915 www.mdpi.com/journal/energies

Energies 2018, 11, 2915 2 of 15

improve the above performance. The structure is optimized by using a lightweight design, which can
alleviate the manipulator self-weight and reduce the energy consumption [6–8]. The manipulator
is usually installed with a lower quality transmission device, which reduces the arm quality and
improves the drive capability [9]. Another effective method is to use a high power density system
(such as a hydraulic system), which can improve the efficiency of the robotic system [10–13].
From the above analysis, it can be seen that the improvement of mobile manipulators involves
three key technologies, the self-weight of mechanism, the transmission device, and the drive efficiency.
Additionally, these three key technologies concentrate on one robotic component: the manipulator joint.
As the core part, the joint directly determines the performance of the manipulator [14]. Additionally,
the load capacity of the joint determines the load capacity of the manipulator. Recently, many kinds
of hydraulic joints have been widely used in mobile manipulators. Liyanage M H proposed a vane
type swing joint, which has the advantages of having a small rotary inertia, large output torque,
and sensitive movement. However, this structure has a large leakage which cannot maintain an
accurate position [15]. Liang designed a rotary actuator based on s the crew mechanism, which has
a small mass and large output torque. Due to the limited rotation angle, the joint cannot be applied
to the manipulator with a large joint rotation angle requirement [16]. Deng put forward a novel joint
consisting of a linear cylinder, wire rope, and pulley, which has the advantages of having a small size
and variable layout [17]. However, when the wire rope is subjected to a large torque, deformation
happens, which leads to a large position error. What is worse, the current hydraulic joints and the
robotic system usually suffer from low energy efficiency. The current mobile robots adopt a single
pump source and multi-actuator. As a result, the system consumes too much energy and the operation
time is reduced sharply [18–22]. Therefore, the development of a hydraulic joint with a small size,
lightweight, large load capacity, and high energy efficiency has become a key technique to improve the
mobile robotic manipulator [23–25].
In order to solve the deficiency in current mobile manipulators, a novel wobble plate hydraulic
joint is proposed in this paper. The new joint not only has characteristics of having a lightweight
and large load capacity, but it can also match the output torque with the requirements, which largely
improves the energy efficiency of the whole system. Based on the efficiency analysis of traditional
manipulators, the new joint structure and working principle are put forward. The kinematics and
dynamics are analyzed by setting up mathematical models. On the analysis of the working principle,
a load matching controller is designed. Finally, a matching control simulation is carried out, which is
used to verify the energy-saving of the novel joint.

2. Design of Wobble Plate Hydraulic Joint

2.1. Efficiency Analysis of Mobile Manipulators

This paper studies the mobile vehicle manipulator, which consists of multiple hydraulic joints and
belongs to a multi-actuator robot, as shown in Figure 1. For joint i, T is the time that the manipulator
operates, the actual energy required for one action is Edi , the energy provided by the power source
is Esi .
ZT
Edi = Mdi wdi dt (1)
0

ZT
Esi = ps Qi dt (2)
0

where Mdi (i = 1, 2, · · · , n) is the load torque, wi (i = 1, 2, · · · , n) is the joint angular velocity,

Qi (i = 1, 2, · · · , n) is the joint flow. The ratio of Edi to Esi is defined as the energy efficiency for
the hydraulic joint, which is labeled as ηE .
Energies 2018, 11, x FOR PEER REVIEW 3 of 16
Energies 2018, 11, x FOR PEER REVIEW 3 of 16
Energies 2018, 11, 2915 3 of 15

Figure
Figure 1.
1. The
The schematic
schematic diagram of the
diagram of the multi‐joint
multi-joint vehicle manipulator.
Figure 1. The schematic diagram of the multi‐joint vehicle manipulator.
curves of
Energy curves of aahydraulic
hydraulicjoint
jointon
onmobile
mobilemanipulator
manipulatorare aredepicted,
depicted, asas shown
shown in in Figure
Figure 2.
2. It
It can
can be be seen that
seen that
Energy the energy
theofenergy
curves supplied
supplied
a hydraulic by
jointby the
onthe power
power
mobile source is much
source is much
manipulator more than
more than
are depicted, the energy
the energy
as shown required,
required,
in Figure 2. It
which indicates that the energy efficiency
efficiency is
is very
very low
low and
and a
a large
large amount
amount of
of energy
energy
can be seen that the energy supplied by the power source is much more than the energy required,is
is wasted.
wasted.
which indicates that the energy efficiency is very low and a large amount of energy is wasted.

Figure 2.
Figure Theenergy
2. The energy curves
curves of
of aa hydraulic
hydraulic joint
joint on
on the
the mobile
mobile manipulator.
manipulator.

Figure 3 shows Figure the2.composition

The energy curves
of theofhydraulic
a hydraulic inthe
joint on
system themobile
roboticmanipulator.
manipulator, which adopts
Figure 3 shows the composition of the hydraulic system in the robotic manipulator, which
a single energy supply source that a motor drives a pump to supply the energy for all the hydraulic
adopts a single
Figure 3 shows energy thesupply source that
composition of thea motor drives
hydraulic a pump
system to supply
in the roboticthe energy for all
manipulator, whichthe
actuators. To ensure that all joints in the manipulator can work normally, the maximum pressure
hydraulic
adopts actuators.
a single energyTo supply
ensure source
that all that
joints in the manipulator
a motor drives a pump cantowork normally,
supply the maximum
the energy for all the
required among the hydraulic joints should be selected as the output pressure from the power source.
pressure required
hydraulic actuators. among the hydraulic
To ensure jointsinshould
that all joints be selectedcan
the manipulator as work
the output pressure
normally, from the
the maximum
power source.
pressure requiredp among the hydraulic joints should be selected as the output pressure from the
s = max{max( p1 + ∆p1 ), max( p2 + ∆p2 ), · · · , max( pn + ∆pn ),} (3)
power source. ps  max max( p1  p1 ), max( p2  p2 ), , max( pn  pn ), (3)
where pi (i = 1, 2, · · · , n) is the supply pressure of joint i, ∆pi (i = 1, 2, · · · , n) is the pressure drop on
ps  max max( p1  p1 ), max( p2  p2 ), , max( pn  pn ), (3)
where
Energies 2018,
the servo (i11, x1,FOR
pi valve 2,i.PEER
, n) is the supply pressure of joint i , pi (i  1, 2,, n) is the pressure drop
REVIEW 4 of on
16

where
the servo i  1, 2,i
pi (valve . , n) is the supply pressure of joint i , pi (i  1, 2,, n) is the pressure drop on
the servo valve i .
w1 M1 w2 M2 wn Mn

p1 Q1 p2 Q2 pn Qn

ps Qs

Figure 3. The diagram of the mobile manipulator hydraulic system.

Figure 3. The diagram of the mobile manipulator hydraulic system.

As the value of the effective area in the traditional joint is constant, when the load changes, the
throttling pressure on the servo valve should be regulated to ensure that the output torque matches
the load torque. Additionally, the energy loss of the power system caused by valve throttling can be
calculated. ps and Qs are the output pressure and flow, respectively, pi and Qi are output
Energies 2018, 11, 2915 4 of 15
Figure 3. The diagram of the mobile manipulator hydraulic system.

As the
As the value
valueof ofthe
theeffective
effectivearea
areaininthe
the traditional
traditional joint
joint is constant,
is constant, whenwhen
the the
loadload changes,
changes, the
the throttling pressure on the servo valve should be regulated to ensure that the output
throttling pressure on the servo valve should be regulated to ensure that the output torque matches torque matches
the load
the load torque.
torque. Additionally,
Additionally, the energy loss
the energy loss of
of the
the power
power system caused by
system caused by valve
valve throttling
throttling can
can be
be
calculated. p and Q are the output pressure and flow, respectively,
calculated. ps and Qs are the output pressure and flow, respectively,
s s p i and Q are output pressure
i pi and Qi are output and
flow at the actuator, respectively.
pressure and flow at the actuator, respectively.
nn nn
∆W=
W ps Q ppi Qi Qii = 
pssQ−s ∑ ∑( (pps s−pip)Qi )iQi (4)
(4)
i =i11 ii =1 1

As
As the
the load
load demands
demands of of each
each joint
joint are
are different,
different, the
the pump
pump output
output pressure
pressure is
is set
set to the highest
to the highest
required pressure, which will result in a pressure loss at the other joints and a lower efficiency
required pressure, which will result in a pressure loss at the other joints and a lower efficiency of robotic of
robotic manipulator
manipulator eventually.
eventually. So, ahydraulic
So, a novel novel hydraulic jointtoneeds
joint needs to be designed
be designed to avoidtoexcessive
avoid excessive
energy
energy loss, which will greatly improve the energy efficiency of each joint and
loss, which will greatly improve the energy efficiency of each joint and promote the performance promote the of
performance of the mobile manipulator.
the mobile manipulator.

2.2. Structure Description

The novel
novel wobble
wobbleplate
platehydraulic
hydraulicjoint
jointhas
hasa shape
a shape of of
a cylinder with
a cylinder a bottom
with a bottom diameter of 120
diameter of
mmmm
120 and and
a height of 210
a height of mm, and and
210 mm, its weight is less
its weight is than 2 kg.2The
less than kg. structure is shown
The structure in Figure
is shown 4. One
in Figure 4.
input module
One input consists
module of two
consists symmetrically
of two symmetrically hydraulic
hydraulic cylinders
cylindersconnected
connectedby bythreads.
threads. Four
Four input
modules are
are evenly
evenly arranged
arrangedon onthe
thebase.
base.TheThestructure
structureofofthetheoutput
outputmodule
module is is
shown
shownin in
Figure 5. Z
Figure 5.
shaft 1 and Z shaft 2 are connected by a spline to form a Z shaped shaft. Swing
Z shaft 1 and Z shaft 2 are connected by a spline to form a Z shaped shaft. Swing rod 1 is rod 1 is installed on
the Z shaped shaft by an angular contact ball bearing, which forms a revolute pair. With the bearing
shell, swing rod 2 is located in the inside of swing rod 1, which which forms
forms aa wobble
wobble plate.
plate.

Energies 2018, 11, x FOR PEER REVIEW 5 of 16

Figure 4.
Figure The structure
4. The structure diagram
diagram of
of the
the wobble
wobble plate
plate joint.
joint.

Figure 5.
Figure The structure
5. The structure diagram
diagram of
of the
the output
output module.
module.

When
When the
the piston
piston rod
rod of
of the
the input
input module
module moves,
moves, the
the swing
swing rod
rod 11 rotates
rotates around
around the
the intersection
intersection
of axis and Z shaped shaft. As swing rod 1 and Z
of its axis and Z shaped shaft. As swing rod 1 and Z shaped shaft to form a revolute pair,
its shaped shaft to form a revolute the Z
pair, the Z
shaped
shaped shaft only rotates around the central line of the joint and swing rod 1 rotates relative to
shaft only rotates around the central line of the joint and swing rod 1 rotates relative to its
its
axis. Similarly, swing
axis. Similarly, swing rod
rod 22 drives the Z
drives the Z shaped
shaped shaft
shaft to
to rotate
rotate and
and itit rotates
rotates relative
relative to
to its
its axis.
axis. By
By
controlling the thrust and direction of the piston rod, the torque on the Z shaped axis can be
generated in different values and directions.
The wobble plate hydraulic joint converts the linear motion of several hydraulic cylinders into
rotary motion. The joint supply pressure can be adjusted by connecting different reversing valves
with high pressure and low pressure, respectively. In this way, the driving combination of the
Energies 2018, 11, 2915 5 of 15

controlling the thrust and direction of the piston rod, the torque on the Z shaped axis can be generated
in different values and directions.
The wobble plate hydraulic joint converts the linear motion of several hydraulic cylinders into
rotary motion. The joint supply pressure can be adjusted by connecting different reversing valves with
high pressure and low pressure, respectively. In this way, the driving combination of the different
hydraulic cylinders can be selected according to the requirement of the load torque, which can realize
the match between the output torque and load torque required.
For the joint, the input pressure is equal to the pump output pressure, so Equation (4) is
expressed below.
n
∆W = ps ( Qs − ∑ Qi ) (5)
i =1

As the output flow from the pump is the sum of all the hydraulic circuits flow.
n
Qs = ∑ Qi (6)
i =1

According to the above analysis, when using the wobble plate joint, the power loss of the power
source is zero, which is significant to improve the performance of the mobile robotic manipulator.

3. Analysis of Mechanical Characteristic

3.1. Kinematic Analysis

Firstly, the joint coordinate systems are established, as shown in Figure 6. As swing rod 1 has
aEnergies
similar motion
2018, to swing
11, x FOR rod 2, for simplicity, swing rod 2 is selected as the research object.
PEER REVIEW 6 of 16

X
X3 X0 1 X2
 A


Z shaped shaft  Z shaped output shaft

Z0 Z1

O  

  
 Z2 Z3
Y1 Y2
Y0 Y3

Figure 6. The coordinate systems of the wobble plate joint.

Figure 6. The coordinate systems of the wobble plate joint.
The intersection point O between the Z shaped shaft and the wobble plate is the origin point of
The intersection point O between the Z shaped shaft and the wobble plate is the origin point of
the coordinate system. X0 Y0 Z0 is the inertial coordinate system fixed to the ground, Z0 and Z shaped
the coordinate system.
X 0Y0 Z 0 is the inertial coordinate system fixed to the ground, Z0 and Z
output shaft rejoin, the Y0 axis is perpendicular to the outside of the paper, the initial position of Z
Y Z0 plane. The Z shaped output shaft can reach the new position
shaped
shapedoutput
outputshaftshaftis located
rejoin, inthethe 0X0axis is perpendicular to the outside of the paper, the initial
by rotating θ in a clockwise direction. X0 Y0 Z0 rotates X 0 Zθ0 clockwise around the Z0 axis, reaching the
position of the coordinate system X1 Y1 Z1 . X1 Y1 Z1 is the plane.
position of Z shaped output shaft is located in the The Z shaped
plane coordinate output
system forshaft
the Zcan reach
shaped
X 0Y0 Z 0
the new
shaft, position
which is the plane formed byinoutput
by rotating a clockwise
axis anddirection.
Z shaped shaft. rotatesX1Y1 Z
When clockwise
1 rotates αaround
clockwise the
Z0
around the Y axis, the position of the coordinate system X YX Y
Z Zis X Y Z
obtained. X Y Z is the rotation
1
axis, reaching the position of the coordinate system2 21 12 1 . 1 1 1 is the 2 2 plane
2 coordinate
coordinate system of the wobble plate, and the Z2 axis and Z shaped
system for the Z shaped shaft, which is the plane formed by output axis and Z shaped shaft collinear. When
shaft. X2When
Y2 Z2
rotates anticlockwise around the Z axis, the position of the coordinate system X Y Z is obtained,

X1Y1Z1 φ 2 Y axis, the position of the coordinate system 3 3 3 X 2Y2 Z 2
which isrotates
the wobbleclockwise the 1 The
aroundsystem.
plate coordinate Z3 axis overlaps with the Z shaped shaft, and the Xis 3
X 2with
Y2 Z 2 the axis of the plate. Z
axis overlaps
obtained. is the rotation coordinate system of the wobble plate, and the 2 axis and Z
shaped shaft collinear. When 2 2 2 rotates  anticlockwise around the 2 axis, the position of
X YZ Z
X YZ Z
the coordinate system 3 3 3 is obtained, which is the wobble plate coordinate system. The 3
X
axis overlaps with the Z shaped shaft, and the 3 axis overlaps with the axis of the plate.
X 3Y3 Z3
Energies 2018, 11, 2915 6 of 15

If the position of point A in the coordinate system X3 Y3 Z3 is known, the position of point A in the
fixed coordinate system can be calculated, which is represented by a0 . Where, point A is the end point
of the wobble plate, and its position in X3 Y3 Z3 is (r, 0, 0), which is represented by a3 ,

a0 = Ra3 (7)

where

R =R Z0 θ RY2 α R Z3 φ   
cos φ − sin φ 0 cos α 0 sin α cos θ − sin θ 0
=  sin φ cos φ 0  0 1 0  sin θ cos θ 0 
   
0 0 1 − sin α 0 cos α 0 0 1 (8)
 
cos θ cos α cos φ + sin θ sin φ − cos θ cos α sin φ + sin θ cos φ cos θ sin α
=  − sin θ cos α cos φ − cos θ sin φ cos θ cos φ + sin θ cos α sin φ − sin θ sin α 
 
− sin α cos φ sin α sin φ cos α

When Equation (8) is put into Equation (7), the following formula is obtained.
   
x0 cos θ cos α cos φ + sin θ sin φ
a0 =  y0  = r ·  − sin θ cos α cos φ − cos θ sin φ  (9)
   
Energies 2018, 11, x FOR PEER REVIEW 7 of 16
z0 − sin α cos φ
Based on the above relations, the kinematic characteristics of the hydraulic joint can be studied.
Based on the above relations, the kinematic characteristics of the hydraulic joint can be studied.
The operating point B of the piston rod and plate shaft is selected, as shown in Figure 7. As the
The operating point B of the piston rod and plate shaft is selected, as shown in Figure 7. As the wobble
wobble plate and piston rod move together, the piston rod moves along a straight line and the
plate and piston rod move together, the piston rod moves along a straight line and the motions of point
X Z
motions of point
A and point B areAlimited
and point B are
in the X0 Zlimited in the 0 0 plane.
0 plane.

A  z0 , 0, x0 
X0
F4 F2
F1
F3 B  z , 0, x 

Z0
O 

Figure 7.
Figure The kinematic
7. The kinematic diagram
diagram of
of the
the wobble plate joint.

In the fixed coordinate system, point A is (z0 , 0, x0 ), point B is (z, 0, x ). From the geometric relation,
In the fixed coordinate
 z0 , 0, x0  , point B is  z, 0, x  . From the geometric
the position equation of pointsystem,
B on thepoint A isangle
rotation is expressed,
relation, the position equation of point B on the rotation angle is expressed,
z0 − cos φ sin α
z = x · z0= x ·  cos  sin  (10)
z  xx0  x  cos θ cos α cos φ + sin θ sin φ (10)
x0 cos  cos  cos   sin  sin 
where x, α, φ are known. From Formula (10), it can be seen that the position of point B is only relevant to θ.
where x ,  ,  are known. From Formula (10), it can be seen that the position of point B is only
relevant to  Analysis
3.2. Dynamic .
Based on the above analysis, the dynamic model of the hydraulic joint is established by
3.2. Dynamic Analysis
the Lagrange Method. To simplify the model, the angle of the output shaft is used as the
Based on
generalized the above analysis, the dynamic
coordinates. ! model of the hydraulic joint is established by the
Lagrange Method. To simplify thed model,
∂Eke the angle
∂Eke of∂Ethe
pe output shaft is used as the generalized
. − . + = Mr (11)
coordinates. dt ∂qr ∂ qr ∂qr

d  Eke  Eke E pe
    Mr (11)
dt  qr  qr qr

Eke E pe
where is the sum of the kinetic energy of each rigid body. is the sum of the potential
Energies 2018, 11, 2915 7 of 15

where Eke is the sum of the kinetic energy of each rigid body. E pe is the sum of the potential energy of
each rigid body. qr is the generalized coordinate, Mr is the generalized force. As the joint is symmetric
around the origin point, O, the potential energy of the mechanism is zero.

(1) The kinetic energy of the wobble plate

The motion of the wobble plate is a superposition of rotation around the Y0 axis and the rotation
around the wobble plate axis. So the kinetic energy of the wobble plate is expressed below.

1 1
Ekei = I ω 2 + I ω 2 (i = 1, 2) (12)
2 iY0 iY0 2 iX3 iX3
where, IiY0 is the moment of inertia around the Y0 axis. IiX3 is the moment of inertia around the X3
axis. As the two parts of the wobble plate move in the same way, the calculation method of kinetic
energy is the same. So the total kinetic energy is Eke1 + Eke2 .

(2) The kinetic energy of the piston assembly and output shaft

The piston rod moves in a straight line, so the kinetic energy is 12 mv2i (i = 1, 2, 3, 4). Where, m is
the total mass of the piston assembly, including two pistons, one push rod, and bearings. vi is the
4
1 2
velocity of the piston rod i. So the total kinetic energy is ∑ 2 mvi . The output shaft rotates at an
i =1
.
angular velocity of θ, and its moment of inertia is around the rotating axis is I, so the kinetic energy of
.2
the output shaft is 12 I θ .
By combining the above formulas, we get the total kinetic energy of the piston assembly and
output shaft.
4
1 1 .2
Eke = ∑ mv2i + Eke1 + Eke2 + I θ (13)
i =1
2 2

Fti is the resultant force of the wobble plate against the pistons.

Fti = F1 + F2 + F3 + F4 (14)

where F1 , F2 , F3 , F4 are the fluid pressures on pistons, respectively, and the right side is selected as the
positive direction.
The power generated by the external forces is equal to the power generated by the generalized
torque, as shown in the following equation.

. 4
Mr θ = ∑ Fti vi + Mω (15)
i =1

where, the external torque M acts on the output shaft, ω is the angular velocity of the output shaft.
By combining the above formulas, we obtain the output torque.
! .
  4
d ∂Eke ∂E v θ
M= . − ke − ∑ Fti . i (16)
dt ∂θ ∂θ i =1 θ ω

Based on mathematical models, the kinematics and dynamics of the wobble plate joint are
numerically analyzed. The relevant simulation parameters are shown in Table 1.
Energies 2018, 11, 2915 8 of 15

Table 1. The structural parameters of the wobble plate joint in the simulation.

Parameter Symbol Value

piston diameter (mm) D 18
rod diameter (mm) d 8
length of Z shaped shaft (mm) H 48
arrangement diameter of input module (mm) R 10
bulge diameter of Z shaped shaft (mm) r 40
mass of piston rods (kg) m 0.25
moment of inertia of Y0 axis (kg·mm2 ) IiY0 420
moment of inertia of X3 axis (kg·mm2 ) IiX3 161
moment of inertia of the output shaft (kg·mm2 ) I 965

To study the characteristics of output torque, the servo valves in operation are fully open. The force
acting on the swing rod is made equal by controlling the closing of the switch valves. As all the output
of input modules are in the same direction, the output torque of the hydraulic joint at each position is
at its maximum
Energies value.
2018, 11, x FOR PEERTheREVIEW
Energies 2018, 11, x FOR PEER REVIEW
Z shaped output shaft of the hydraulic joint rotates at a constant speed, 9 of 16
9 of 16
with an angle function of θ = πt/6.
Based
Based on
Based on
onaaanumerical
numerical simulation,
numericalsimulation,
simulation,the the displacements
thedisplacements
displacementsof ofof the
thethe joint piston
joint
joint piston
piston areare
are obtained,
obtained,
obtained, as as
as shown
shownshown in
in
Figure
in Figure
Figure 8. The
8. The result
8. The shows
result
result shows shows that that
that the motion
the motion
the motioncurvecurve
curve of the
of theofinput
input pistonpiston
the input
piston rod is
rod isrod
aa triangle
triangle function
is a triangle
function curve
function
curve
with
curveno
with no
withimpact point.
no impact
impact The
point.
point. The piston rod
The rod
piston pistonacceleration is
rod acceleration
acceleration obtained
is obtained by
is obtained differentiating displacement,
by differentiating
by differentiating which
displacement,
displacement, which
shows
which no
shows abrupt
no point
abrupt in
point theincurve
the and
curve indicates
and indicatesthatthatthe piston
the
shows no abrupt point in the curve and indicates that the piston rod moves smoothly. The joint rod
piston rodmoves
moves smoothly.
smoothly. The
The joint
joint
output
output torque
torque curve
curve isis depicted
depicted in in Figure
Figure 9. 9.
It It
can can
be be
seen seen
that that
the the
value
output torque curve is depicted in Figure 9. It can be seen that the value of the output torque is value
of the of the
output output
torque torque
is greater is
greater
than 380than
greater than 380
Nm.380 Nm.
TheNm.
curve The
The curve
contains
curve fourcontains
peaks,
contains four peaks,
roughly
four peaks,spacedroughly
roughly spaced
by an angleby
spaced by an
of an
π/2. angle
The of
angle of 
reason / 2 . The
 / 2is. The
that
reason is that four piston rods are arranged between  / 2 , therefore,
reason is that four piston rods are arranged between  / 2 , therefore, the operating phases between
four piston rods are arranged between π/2, therefore, the operating the
phases operating
between phases
them are between
different
them
by π/2.
them are different
are different
As by of// 22the
the value
by .. As
As the value
output
the value of the
torque
of the output
varies,
output torque varies,
adjusting
torque varies,
the servoadjusting the servo
valve action
adjusting the servo valve action
in advance
valve action
can
in advance
provide can
joint provide
motion joint
stability. motion
in advance can provide joint motion stability. stability.

 ((rad
rad )
)

Figure 8.
Figure 8.
Figure The displacements
The displacements
8. The of
displacements of different
of different piston
different piston rods.
piston rods.
rods.
Torque（N.m）
Torque（N.m）

 ((rad
rad )
)
Figure 9.
Figure The curve
9. The curve of
of the
the wobble plate
wobble plate joint
plate joint output
joint output torque.
output torque.
torque.
Figure 9. The curve of the wobble

4. Design
4. Design of
of Load
Load Matching
Matching Control
Control

4.1. Analysis
4.1. Analysis of
of Control
Control Principle
Principle
RV RV RV3 RV RV4 RV RV5
As shown
As shown in
in Figure
Figure 10,
10, eight
eight reversing
reversing valves
valves are
are recorded
recorded asas RV11 ,, RV22 ,, RV 3 ,, 4 ,, 5 ,,

RV6 RV7 RV8 X  [[xx1 xx2 xx3 xx4 xx5 xx6

X xx7 xx8]]
Energies 2018, 11, 2915 9 of 15

4. Design of Load Matching Control

4.1. Analysis of Control Principle

As shown in Figure 10, eight reversing valves are recorded as RV1 , RV2 , RV3 , RV4 , RV5 , RV6 ,
RV7 and RV8 , the control signal is X = [ x1 x2 x3 x4 x5 x6 x7 x8 ]. When xi = 1 (i = 1, 2, · · · , 8),
the channel of the reversing valve connects to port A on the servo valve, when xi = 0 (i = 1, 2, · · · , 8),
the channel
Energies ofxthe
2018, 11, FORreversing valve connects port B.
PEER REVIEW 10 of 16

M
  M

RV1 RV2 RV3 RV4 RV5 RV6 RV7 RV8

pA pB

ps pT

Figure 10.
Figure The diagram
10. The diagram of
of the
the hydraulic
hydraulic system
system in
in the
the wobble
wobble plate
plate joint.
joint.

Due
Due to
to the
the focus
focus onon relations
relations between
between output
output andand switch
switch valves
valves combination,
combination, the
the valve
valve throttle
throttle
loss and cylinder friction are not considered here. So forces exerted by the input modules
loss and cylinder friction are not considered here. So forces exerted by the input modules on on the swing
the
rod are shown as follows, the right is selected as the positive direction.
swing rod are shown as follows, the right is selected as the positive direction.
4 4 22
∑1 (−1()i−1)1 xi xpi ApSA Si i+ ∑
 ((−
i 1
F1 = F 1)1i)1i−
(11(1xi−
) pxBiS)ip B Si (17)
(17)
i 1 i 1
i =1 i =1
8 8
F82   ( i−1)1 i 1 xi p A Si  8 ( 1) i 1 (1  x ) p S
i B i (18)
F2 = ∑ (− i  51) x i p A Si + ∑ i  5 (−1)
i −1
( 1 − x i ) p B Si (18)
i =5 i =5
F3   F1 (19)
F3 = − F1 (19)
F  F (20)
F4 4= − F22 (20)
p pB
where p AAand
where andp B respectively represent
respectively the the
represent pressure at port
pressure A and
at port A and B, SB,is Sthe
portport effective
is the areaarea
effective of the
of
piston in the
the piston in chamber which
the chamber is the
which is reversing valve
the reversing valve i
i connecting to. to.
connecting

  πD  D2 2 i = 1, 4, 5, 8

 4 i  1, 4,5,8
Si =  4 (21)
Si  π ( D2 −d2 )2 i = 2, 3, 6, 7 (21)
  ( D  d ) i  2,3, 6, 7
2
4

The flows through port A and port B, which 4 are marked as Q A and Q B , respectively, can be
calculated. If oil flows out from the port of servo valve, the value is Q positive. Q
The flows through port A and port B, which are marked as A and B , respectively, can be
calculated. If oil flows out from the port of servo valve, the value is positive.
8
QA  2 ( 1)i 1 xi y i Si (22)
i 1

8
QB  2 (1)i 1 (1  xi ) y i Si (23)
i 1
Energies 2018, 11, 2915 10 of 15

8
Q A = 2 ∑ (−1)i−1 xi yi Si (22)
i =1
8
Q B = 2 ∑ (−1)i−1 (1 − xi )yi Si (23)
i =1

4.2. Design of the Load Matching Controller

According to the change of load torque, the wobble plate hydraulic joint can select the best
position combination of the reversing valves, which can realize the match between the output torque
and load torque. Therefore, the load matching controller needs to solve the following problems.

(1) Determine the combination of the reversing valves, which can output the torque that is closest to
the load torque. To meet the requirements of joint angle tracking and ensure sufficient driving
force, the output torque selected initially is usually slightly larger than the actual load torque.
(2) Predict the trend of the angle tracking error and adjust the mode of the valves’ combination.
At a sampling point, if the absolute value of joint angle error is less than the allowable value,
the existing combination remains unchanged, otherwise, the characteristics of the error need to be
further determined. When the error is positive, it indicates that the output torque is insufficient,
so it should be increased. When the error is negative, it indicates that the output torque is
sufficient, so it should be reduced.

The load matching controller is designed. The results of different valve position combinations
are analyzed and the same effects of the position combinations are merged. Eight reversing valves
are divided into group A and group B, group A includes RV1 , RV2 , RV3 , RV4 , whose control signal is
[x1, x2, x3, x4]; group B includes RV5 , RV6 , RV7 , RV8 , whose control signal is [x5, x6, x7, x8]. According
to the analysis, when group A and group B send out 9 control signals, the input module exerts different
forces shown in Table 2. Where, K is defined as regulating grade, whose value goes from small to large,
corresponding to the nine outputs.

Table 2. The control signal combinations for the reversing valve.

Serial Number Control Signals [x1 x2 x3 x4]
1 [0 0 0 0]
2 [1 0 0 0]
3 [0 1 0 0]
4 [0 0 1 0]
5 [0 0 0 1]
6 [1 1 0 0]
7 [1 0 1 0]
8 [0 1 0 1]
9 [0 0 1 1]
Serial Number Control Signals [x5 x6 x7 x8]
1 [0 0 0 0]
2 [1 0 0 0]
3 [0 1 0 0]
4 [0 0 1 0]
5 [0 0 0 1]
6 [1 1 0 0]
7 [1 0 1 0]
8 [0 1 0 1]
9 [0 0 1 1]

The specific load matching control process is designed as follows.

Step 1: Use the torque sensor to measure the load torque τ.

Step 2: Calculate all the output torques at the current rotating angle according to all the reversing
valve position combinations.
Step 3: Calculate all the generalized torques, which would be sorted from small to large, to form
a sequence of generalized torques with the number of regulating grade Nc .
Step 4: In the generalized torque series, select the optimal generalized torque which is closest to the
last torque and the initial grade is selected.
Energies 2018, 11, 2915 11 of 15

Step 5: Compare the angle tracking error e with the allowable value δ11 . If |e| < δ11 , it indicates that
the optimal generalized torque selected is appropriate, and grade K is maintained; otherwise,
Step 6 is performed.
Energies 2018, 11, x FOR PEER REVIEW 0 12 of 16
Step 6: Compare the derivative e of the angle tracking error with the corresponding allowable value δ2 .
e  11 e  
When
When e > δ11 if e0 ≥ δ2 ,2 ,ititindicates
,, if indicatesthat
thatthe
theoutput
outputtorque
torqueisisinsufficient
too large and gradeKK should
andgrade
Kif, eif <e δ2
, it2 means
0
be increased
be decreased by by∆K, that that
, it means there’s a decrease
there in the in
is a decrease angle
the tracking e < δ12
error, iferror,
angle tracking if,
maintain
e  12 grade K, otherwise, increase the value of K to increase the output torque.
, maintain
e < −δgrade 0 K , otherwise, decrease the value of K to increase the velocity of the error
When 11 , if e < − δ2 , it indicates that the output torque is too large and grade K should be
reduction.
decreased by ∆K, if e0 > −δ2 , it means that there is a decrease in the angle tracking error, if e > −δ12 ,
maintain
Step 7: Thegrade K, otherwise,
optimal generalizeddecreasetorquetheisvalue of K to
applied to the
increase the velocity
hydraulic of the
joint and theerror reduction.
instant angular
displacement is fed back to step 5.
Step 7: The optimal generalized torque is applied to the hydraulic joint and the instant angular
Step 8: Go back to step 2 and perform the following steps in turn until the ending.
displacement is fed back to step 5.
Step 8: Go back to step Mq  M  K
Where,  is load 2torque,
and perform the following
the generalized steps in
torque is turn until the
expressed asending. , is the
regulating grade, which indicates the position of the optimal generalized torque in sequence. K
Where, τ is load torque, the generalized torque is expressed as Mq = M + τ, K is the regulating
Nc e step
is the step
grade, whichsize of the the
indicates grade regulating.
position is the
of the optimal total number
generalized torqueofinregulating ∆K is the
sequence. grade. is angle
size
of the grade regulating. is the total number of regulating grade. eis angle 
tracking error. e  is the cderivative of the angle tracking error. 11 and 12 are the allowable
N tracking error. e 0 is the

derivative of theangle tracking error. δ11 and δ12 are the allowable values of error, δ2 is the allowable
values 2 is the allowable velocity value of error reduction.
velocityofvalue
error,of error reduction.

5.
5. Simulation
Simulation and
and Discussion
Discussion
As
As the
the long
longdevelopment
developmentperiod
periodofofwobble
wobbleplate hydraulic
plate hydraulicjoint, thethe
joint, energy saving
energy effect
saving of the
effect of
novel jointjoint
the novel is verified by simulation.
is verified Combined
by simulation. withwith
Combined the strategy of the
the strategy of load matching
the load control,
matching the
control,
servo control
the servo system
control is constructed
system as shown
is constructed in Figure
as shown 11. 11.
in Figure

1/ s Ki
d  act
Kp 
1/ s 1/ s
s Kd

Figure
Figure 11.
11. Diagram
Diagram of
of aa hydraulic
hydraulic joint
joint control
control system.

In Figure 11, θd is the input angle. θact is the output angle. KKp , Ki K
and Kd are
K parameters of the
In Figure 11, d is the input angle. act is the output angle. p , i and d are parameters of
proportionality coefficient, integral coefficient, and differential coefficient, respectively, x is the control
the proportionality coefficient, integral coefficient, and differential coefficient, respectively, x is the
signal for reversing valves.
control signal for reversing valves.
The control system is composed of two closed loops, an angular control loop, and the load
The control system is composed of two closed loops, an angular control loop, and the load
matching control loop. The angle control closed loop is the main one and detailed process is stated
matching control loop. The angle control closed loop is the main one and detailed process is stated as
as follows.
follows.
Compare the expected angle θd with the actual angle θ act . The angular error e is regarded as the
 with the actual angle  act . The angular error e is regarded as
angleandd the
input signal of the expected
Compare PID controller output signal of PID controller is served as the control signal
the input signal of the PID controller and the output signal of PID controller is served as the control
signal of the servo valve, which is used to change the opening size of the servo valve. At the same
time, the angle is controlled, the load torque of the hydraulic joint changes in real time. The function
of the load matching control is to select the most suitable position combination of reversing valves,
so that the output torque matches the load torque, which can reduce energy loss on the servo valve.
Energies 2018, 11, 2915 12 of 15

Energies 2018, 11, x FOR PEER REVIEW 13 of 16

of the 2018,
Energies servo 11,valve, which
x FOR PEER is used
REVIEW to change the opening size of the servo valve. At the same13time, of 16
the angle is controlled, the load
According to the control system shown torque of the hydraulic
in Figure 11,jointthechanges
simulation in real time. The
models function
are built of the
based on
load matching
According control
to the is to
control select the
system most
shown suitable
in position
Figure 11, thecombination
simulation
MATLAB R2014a. In load matching control simulation, relevant parameters are shown in Table 3. of reversing
models are valves,
built so
basedthat
on
the outputR2014a.
MATLAB torque matches the load torque,
In load matching control which can reduce
simulation, relevantenergy loss on are
parameters the shown
servo valve.
in Table 3.
According to the Table 3. The parameter of a hydraulic joint in the control simulation. are built based on
control system shown in Figure 11, the simulation models
MATLAB R2014a. Table In load 3. matching
The parametercontrol
of a simulation,
hydraulic jointrelevant parameters
in the control are shown in Table 3.
simulation.
Parameters Symbol Value
Table 3. The Parameters
proportionality
parameter hydraulic joint in theSymbol
of acoefficient Value
Kp simulation.
control 0.086
proportionality coefficient
integration coefficient KKpi 0.086
0.02
Parameters coefficient
integration
differential coefficient Symbol Kdi Value
0.02
differential
proportionality
frequency coefficient
coefficient
of reversing valve (Hz) Kp Kfd 0.02
1000.086
integration
frequency coefficient
allowableofvaluereversing
of errorvalve (Hz)
1 (rad) K i δf11 100
0.0020.02
differential coefficient Kd 0.02
allowable value of error 12 (rad) δ11
12 0.002
0.001
frequency of reversing valve (Hz) f 100
allowable
allowable
allowable value value
velocity of 1error
value
of error 2 (rad)
of error
(rad) (rad/s) δ11 δδ122 0.001
0.8
0.002
allowable
allowable velocity
step size value
valueofofgrade
error of error (rad/s) δ12 δK
2adjustment
(rad) 2 0.8
20.001
allowablestep velocity
size value of error
of grade (rad/s)
adjustment δ2 K 2 0.8
step size of grade adjustment
In verification, the joint expected angle curve is set as
 ∆K cos(t )   2
, the load torque is set as
   cos(t )   , the load torque is set as
  200sin( t)
In verification, the joint expected angle curve is set as
, the simulation results are shown in Figures
  200sin(
In verification,
t) the joint expected angle curve is set as 12
θ =and−π13. cos(t) + π, the load torque is set as
, the simulation results are shown in Figures
τ = 200 sin(t), the simulation results are shown in Figures 12 and 13. 12 and 13.

Figure 12. The curves of the load torque and output torque.
Figure12.
Figure Thecurves
12.The curvesof
ofthe
the load
load torque
torque and
and output
output torque.
torque.

Figure
Figure13.
13.The
Thecurve ofthe
curveof the load torque matching difference.
Figure 13. The curve of the load torque matching difference.
Figure 12
Figure 12 shows
shows the the output
output torque
torque tracking
tracking forfor the
the load
load torque.
torque. TheThe dotted
dotted black
black line
line represents
represents
the varying
the varying
Figure 12 load
load torque,
shows
torque, the solid
the output
the solid red line
torque
red line represents
tracking the
for thethe
represents loadoutput
torque.
output torque provided
The dotted
torque providedblackbyline
by the hydraulic
therepresents
hydraulic
joint.
the Figure
varying 13
load shows
torque, thethe difference
solid red between
line the output
represents the torque
output and the
torque
joint. Figure 13 shows the difference between the output torque and the load torque. It can be seen load torque.
provided by It
the can be seen
hydraulic
that
that
joint.
output output
Figure torque
13 shows
torque from
from the the
thenovel novel
difference hydraulic
between
hydraulic joint
thecan
joint can
output be adjusted
torque and
be adjusted according
the loadto
according to the
torque. change
It can be
the change of the
of seen load
that
the load
torque,torque
output
torque, and the
and thefrom
difference
the novel
difference between the output
hydraulic
between the output torque
joint can
torque and load
be and load according
adjusted torque is
torque is within
within the
to the the allowable
change range.
of therange.
allowable load
The above
torque, and result
the indicates
difference that the
between wobble
the plate
output hydraulic
torque and joint
load can
torquematch
is
The above result indicates that the wobble plate hydraulic joint can match the output torque and load the
within output
the torque
allowable and load
range.
torque
The
torque by regulating
above
by regulating
result indicatestheconnection
the connection
that the wobblebetween
between different
plate input
hydraulic
different input modules
joint can match
modules andhigh‐pressure
and high-pressure
the output torque supply.
supply.and load
torque by regulating the connection between different input modules and
Figure 14 shows the energy curves of different hydraulic joints with variable load torques. Ashigh‐pressure supply.
can beFigure
seen14 shows
from the the energy
figure, the curves
energyofconsumption
different hydraulic joints with
of the wobble platevariable
hydraulicloadjoint
torques.
is muchAs
can
lowerbethan
seenthat
from of the figure, the
traditional energyjoint,
hydraulic consumption
and the dottedof theline
wobble plate hydraulic
represents the energyjointsaved is by
much
the
lower than that of traditional hydraulic joint, and the dotted line represents the energy saved by the
Energies 2018, 11, 2915 13 of 15

Energies 2018, 11, x FOR PEER REVIEW 14 of 16

Energies
Figure2018,14
11,shows
x FOR PEER REVIEW curves
the energy of different hydraulic joints with variable load torques. 14 As
of 16can

be novel
seen joint. the
from
Energies
Based on numerical
2018, 11, figure,
x FOR PEERtheREVIEW
energycalculation,
consumption the energy
of theconsumption
wobble plate of hydraulic
traditional joint
hydraulic
is muchjoints is
lower
14 of 16
novel
9606 joint.
J, and Based
that ofon numerical
wobble plate calculation,
hydraulic the energy
joints is 3492 consumption
J. As both of traditional
hydraulic joints hydraulic
perform joints
the same is
than that of traditional hydraulic joint, and the dotted line represents the energy saved by the novel
9606 J, and that of wobble plate hydraulic joints isE3492 J. As both hydraulic joints perform thesame
joint. novel
Based joint. Based
meansonthe
on numerical numerical calculation,
calculation, therequired
energy the energy
di , itconsumption
consumption of traditional
of traditional hydraulic
hydraulic joints
joints isEis
9606
in J,
action,
9606of
action,
which
J, and
which that
means of wobble
the
same energy
sameplate hydraulic
energy joints
required is , it
is obvious
is obvious
that
that
the energy
the energy
efficiency
Edi3492 J. As both hydraulic joints perform the same
efficiency
 E in
and that wobble plate hydraulic joints
the wobble plate joint is higher than the traditional one.is 3492 J. As both hydraulic joints perform the same action,
theaction,
which wobble
means plate
the same
which joint is
means higher
energy
the same than
requiredthe E
energy traditional Edione. that the energy efficiency ηE in the
di , it is obvious
required , it is obvious that the energy efficiency E wobble
 in
plate the
joint is higher
wobble platethanjoint the traditional
is higher one.
than the traditional one.

Figure 14. The energy curves of the novel joint and the traditional one.
Figure14.
14.The
Theenergy
energy curves of the novel joint and the traditional one.
Figure
Figure 14. The energycurves
curvesof
of the
the novel jointand
novel joint andthe
the traditional
traditional one.one.
To study the influence of the regulating grade step size on the angle tracking error and energy
ToTo regulating
K  1 , Kgrade  2 andstep  K on3 )the
study
study thethe influence
influence ofofofthe
the regulating
regulating grade step
step size
size on
on the angle
theangle
angle tracking
tracking error and energy
error
loss, different
To study stepthesizes (such
influence asthe grade size are selected for the
tracking error and and
simulation energy
energytest.
loss,
loss, different
different step
step sizes
sizes (such
(such as
as 
∆K K = 1 , 
∆KK = 2 and 
∆K

K =33 3)
 ) are selected for the simulation test.
Figure
loss, 15 showsstep
different the angle tracking
sizes (such as error 1, 2
K  1 ,corresponding and
K  2 and to different
K are selected
step sizes.
) are selected for the
As the
for the simulation
test. test.
figure shows,
simulation
Figure
Figure
when 15shows
15
Figure K15 1shows
shows , the the
thejoint
theangle
angle
angletracking
hastracking
the largest
tracking error
error
error corresponding
corresponding
tracking to
error. Theto
corresponding todifferent
different
tracking
different step
errorstep
step of KAs
sizes.
sizes.
sizes.  2As
As thethe
theand
figure
figureK 
figure 3 shows,
shows,
shows, are
when
when ∆K =K K
1,1 
,
thethe
1 joint
joint has
has the
the  K
largest
largest  3
tracking
tracking error.
error. The
The tracking
tracking error of 
∆K
K K=2 2
2 and
and  
∆K
K K
=
3 3
3 are
are not
when , the joint
not much different, the error of has the largest tracking error. The tracking
seems a little smaller. error of and are
notnot
much much different,
different, the the
error of ∆K
error of= 3 33 seems
Kseems
K a a
little little smaller.
smaller.
much different, the error of seems a little smaller.
K 1
K  2
K
KK113
K22
K
K33
K

Figure 15. The

Figure 15.
curves of angle
The curvesofofangle
tracking
angle tracking
error for
tracking error
fordifferent
differentstep
stepsizes.
sizes.
Figure 15.The
Figure15. The curves
curves of angle tracking errorfor
error fordifferent
differentstep
stepsizes.
sizes.
The curves
The The
curves of of
curvesthethe
of the energy
energyenergy consumption
consumption
consumption corresponding
correspondingto
corresponding todifferent
to differentstep
different stepsizes
step sizesare
sizes are
are shown
shown
shown in
inin Figure
Figure
Figure 16.
ItThe
16.16. can curves
be
Itseen seen
can be
offrom
seen
the energy
from the consumption
figure
the that that
figurethe
thatthe corresponding
energy
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sizes. general, thethelower
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K11
K
K22
K
KK
K 133
K  2
K  3

Figure 16. The curves of energy consumption for different step sizes.
Figure 16.The
Figure16. Thecurves
curvesofof energy
energy consumption fordifferent
consumption for differentstep
stepsizes.
sizes.
Figure 16. The curves of energy consumption for different step sizes.
Energies 2018, 11, 2915 14 of 15

Based on the simulation, it was proven that the wobble plate hydraulic joint can change the
output torque according to the change of load torque, which ensures that the output torque matches
load torque. At the same time, the test results show that the increase of the step size can improve
the accuracy of angle tracking, while, it reduces joint energy efficiency. Therefore, on the basis of the
precision requirement of angle tracking, a smaller step size ∆K should be selected, which is especially
helpful to improve the energy efficiency of the wobble plate joint.

6. Conclusions
This paper presents a novel wobble plate hydraulic joint with a small size, lightweight, large load
capacity, and high energy efficiency. The following conclusions are drawn.

(1) Based on an efficiency analysis of the traditional hydraulic system in the mobile robotic
manipulator, an energy-efficient hydraulic joint with wobble plate structure was proposed.
By analyzing its working principle, the reason for the high efficiency in the novel joint
was explained.
(2) With the method of coordinate transformation, a kinematics model was established. By using
the Lagrange Method, a dynamic model was established. Based on a numerical simulation,
the functional relationship between the input angle and output torque of the novel joint
was deduced.
(3) Based on the structural characteristics and control principle, the load matching controller of the
wobble plate hydraulic joint was designed, and the specific control processes were formulated.
(4) Combined with the strategy of load matching control, the servo control system was established,
and simulation was carried out to verify the energy-saving effect of the novel wobble plate
hydraulic joint.

Author Contributions: D.F. was responsible for conceiving the study design, performing mathematical modeling
and writing most of the manuscript. J.Y. proposed the concept of wobble plate hydraulic joint and participated in
the structure design and analysis. J.S. was responsible for guidance, suggestions and manuscript review. Z.W. and
Y.F. made contributions to load matching control simulation and helped with editing the manuscript.
Funding: The work reported in this paper was supported by the National Natural Science Foundation of
China (51675522).
Conflicts of Interest: The authors declare no conflict of interest.

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