Modeling and Simulation of Flexible Hydraulic Robotic Arm

Li Dai; Da Lu Xu; Yu Liu; Jian Wang

doi:10.4028/www.scientific.net/AMR.538-541.773

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 538-541Modeling and Simulation of Flexible Hydraulic...

Modeling and Simulation of Flexible Hydraulic Robotic Arm

Abstract:

The flexible robotic arm drived by hydraulic are widely applied in most kinds of large engineering equipments, such as concrete pump truck, bridge monitor truck,etc. Nevertheless, the flexible distortion always break the precision of end-position and cause liberation of the whole arm system. In this paper, the movement of flexible hydraulic robotic arm and hydraulic cylinders are separately analyzed with flexible multi-body dynamics. And the dynamic differential equation is built with the driving force of the hydraulic cylinder as the main force. The equation is based on the theory of flexible multi-body dynamics, building the coupled model of robotic arm system and hydraulic-driving system to study the relation between the end-position, angle and the hydraulic system. What’s more, the simulation model of the mechanical arms is built by the dynamic simulation software. The project will theorectically support the intelligent control or auxiliary control of large engineering equipments.

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Periodical:

Advanced Materials Research (Volumes 538-541)

Pages:

773-776

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.538-541.773

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Online since:

June 2012

Authors:

Li Dai, Da Lu Xu, Yu Liu, Jian Wang

Keywords:

Flexible, Hydraulic Robotic Arm, Multibody Dynamics (MBD)

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References

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