Table of Contents
Flexible hydraulic arm is a complicated system which coupled by mechanics and hydraulics. It is widely applied in all kinds of large engineering equipments, such as concrete pump truck, bridge monitor truck, arm frame of crane, etc. The arm system of the hydraulic arm is a multi-body system with redundant freedom, strong nonlinear, coupled with rigid and flexible characters.
So it is of great theoretic value and real engineering significance to study the arm system of the hydraulic arm. In this theme, the movement of flexible hydraulic arm and hydraulic cylinders are separately analyzed with flexible multi-body dynamics, and the mechanical hydraulic dynamic model of the driving system and the arm system is built with Lagrange Equation and Virtual Work Theory. And the dynamic differential equation is built with the driving force of the hydraulic cylinder as the main force.
With the track programming and the optimization method, the dynamic converse problem of the arm end track is researched, so as to get the optimized rotation angle when the arm end reaches the expected point. By using the PD control theory, without decoupling and rank-decreasing, only with feedback from the hydraulic system to realize the close loop control of the arm end position, pose and movement, the relationship between the hydraulic system and the end position & pose is studied, so that the flexible distortion is reduced and the liberation is restrained. What’s more, the simulation model of the mechanical arms is built by the dynamic simulation software. The simulation result proves that the movement equation built by this way can clearly describe each dynamic character of the mechanical arms.
Introduction to fluid power
1.4 Pascal’s Law
2.3 Transmission of forces through liquids
When the end of a solid bar is struck, the main force of the blow is carried straight through the bar to the other end. This happens because the bar is rigid. The direction of the blow almost entirely determines the direction of the transmitted force.
2.4 Atmospheric Pressure and its Effects
2.5 Multiplication of forces
Components used in the fabrication of this project
4.1 Hydraulic syringes
4.1.2 Single acting vs. double acting
4.2 Fluid lines and fittings
4.4.1 Mechanical gripper