Modeling of Vertical Planar Two-Link Manipulator

Zdzisław Gosiewski; Grzegorz Michałowski

doi:10.4028/www.scientific.net/SSP.164.366

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HomeSolid State PhenomenaSolid State Phenomena Vol. 164Modeling of Vertical Planar Two-Link Manipulator

Modeling of Vertical Planar Two-Link Manipulator

Abstract:

Modeling of kinematics of hydraulically-driven manipulator is presented in the paper. The analyzed electrically-controlled vertical planar two-link manipulator has two rotary degrees of freedom and includes two hydraulic cylinders that form additional links thereby resulting in excavator type mechanism. Equations of motion are derived. Provided simulation results of the manipulator endpoint position, velocity, and acceleration are obtained by Matlab/Simulink.

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Periodical:

Solid State Phenomena (Volume 164)

Pages:

366-370

DOI:

https://doi.org/10.4028/www.scientific.net/SSP.164.366

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Online since:

June 2010

Authors:

Zdzisław Gosiewski, Grzegorz Michałowski

Keywords:

Hydraulic Cylinder, Kinematics, Manipulator, Modeling

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References

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