摘要
介绍了喷浆机器人的结构、工作原理和液压驱动系统的设计，并对枪杆旋转关节所采用的液压位置伺服控制进行了研究分析。使用证明，该喷浆机器人达到了设计要求。
Abstract This paper presents the structure,operating principle of the shofcrete robot and design of hydraulic driving system.Research was conducted on the hydraulic position servo control adopted at the rotating knuckle of the barrel.It was shown through application that the shotcrete robot came up to the design requirements
基金
国家863计划资助项目
