|Table of Contents|

Modeling of Hydraulic Parallel Robot Using Bond Graph

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
2006年02期
Page:
203-208
Research Field:
Publishing date:
2006-04-30

Info

Title:
Modeling of Hydraulic Parallel Robot Using Bond Graph
Author(s):
ZHAO Q iang1 LIH ong-ren2
1.School of Traffic Transportation Engineering,Northeast Forestry University,Harbin 150040,China;2.School of Mechanical Engineering,Harbin Institute of Technology,Harbin 150001,China
Keywords:
para lle l robo t simulation bond g raph New ton-Eu lermethod
PACS:
TH 112
DOI:
-
Abstract:
Bond graph is an effective unified approach to treat the eng ineering system w ith mult iple energy domains. A novel bond graph mode l is presented for hydrau lically driven parallel robo.t The model for themot ion platform is estab lished based on New ton-Eu ler method. A ccording to the servo va lve and the cy linder. s flow equat ions and the dynam ic equ ilibrium equation, the hydraulic actuator model is also estab lished. The abovemodels. integration under causa l relation rule forms the who lesystem model of the parallel robo.t The simulat ion shows that this model reflects the real behav io r o f the parallel robo.t It can be used in the dynamical ana lysis and contro l system design o f paralle l robots.

References:

[ 1] Ou ld Bouam am a B, M edjaher K, Sam antaray A, et a.l Fau lt detection and iso lation of sm art actuators using bond graphs and ex terna l m ode ls [ J]. Contro l Eng ineer ing Practice, 2005, 13: 159- 175.
[ 2] Ka rnopp D, M argo lis D, Rosenberg R. System Dynam ics: A Unified Approach [M ]. New York: John W iley& Sons, 1990.
[ 3] Ka rnopp D. Understanding m ultibody dynam ics us ing bond graph representations [ J]. Journal o f Frank lin Institute, 1997, 334 ( 4): 631- 642.
[ 4] Pace jka H. M odeling com plex vehic le sy stem s us ing bond graphs [ J]. Journa l of the Frank lin Institute, 1985, 319 ( 1- 2) : 67- 81.
[ 5] Zeid A, Ov erholt J. S ingu la rly perturbed bond graph m ode ls fo r s imu lation of mu ltibody system s [ J]. Journa l of Dynam ic System s M easurem ent and Contro ,l 1995, 117 ( 9): 401- 410.

Memo

Memo:
-
Last Update: 2006-04-30