Modeling of Vertical Planar Two-Link Manipulator
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.
Andrejus H. Marcinkevičius and Algirdas V.Valiulis
Z. Gosiewski and G. Michałowski, "Modeling of Vertical Planar Two-Link Manipulator", Solid State Phenomena, Vol. 164, pp. 366-370, 2010