Dynamic Simulation of a Three Degrees of Freedom Hydraulically Activated Robotic Arm with Flexible Links

Document Type



The formulation of dynamic equations of motion of a three degrees of freedom hydraulically activated robotic arm with flexible links is presented. The dynamic model is based on Bernoulli-Euler theory for beams. It was found that the assumed modes method presents a suitable way of approximation to represent the system. The model is a set of nonlinear coupled ordinary differential equations. These equations solve the inverse dynamic problem by determining the deflection of the robot links and using them to obtain the required forces/torques in the hydraulic actuators for a given motion of the manipulator joints


Activation; Cybernetics; Deflection; Degrees of freedom; Differential equations; Dynamics; Equations of motion; Hydraulic actuators; Hydraulic control; Hydraulic couplings; Inversion; Joints; Manipulators (Mechanism); Manufacturing and industrial engineering and control of product systems; Mathematical models; Reprints; Robotic arms; Robotics; Robots – Motion; Robots; Industrial; Simulation


Hydraulic Engineering | Mechanical Engineering | Robotics


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