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Modeling of Hydraulic Parallel Robot Using Bond Graph


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Modeling of Hydraulic Parallel Robot Using Bond Graph
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
para lle l robo t simulation bond g raph New ton-Eu lermethod
TH 112
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.


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Last Update: 2006-04-30