Mechatronic hydraulic drive cnaracteristics during manipulator spatial motion

  • Leonid Kozlov Vinnytsia National Technical University
  • Sergiy Repinskiy Vinnytsia National Technical University
  • Oksana Paslavska Vinnytsia National Technical University
  • Oleg Piontkevych Vinnytsia National Technical University

Abstract

The paper proposes a nonlinear mathematical model of spatial motion of the manipulator, based on two individual hydraulic drives with mechatronic control. The developed mathematical model has made it possible to determine the manipulator spatial motion characteristics during simultaneous operation of two hydraulic drives. In particular, the effect of the drives and  manipulator parameters on  the regulation time and overshooting as well as on the stability of transient processes during the manipulator start-up process is determined and analyzed.

Author Biographies

Leonid Kozlov, Vinnytsia National Technical University

Dc. Sc. (Eng.), Prof., Head of the Department of Mechanical Engineering Technologies and Automation

Sergiy Repinskiy, Vinnytsia National Technical University

Cand. Sc. (Eng.), Ass. Prof. of the Department of Mechanical Engineering Technologies and Automation

Oksana Paslavska, Vinnytsia National Technical University

Senior laboratory assistant of the Department of Mechanical Engineering Technologies and Automation

Oleg Piontkevych, Vinnytsia National Technical University

Engineer of the Department of Mechanical Engineering Technologies and Automation

References

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Published
2017-06-22
How to Cite
KOZLOV, Leonid et al. Mechatronic hydraulic drive cnaracteristics during manipulator spatial motion. Scientific Works of Vinnytsia National Technical University, [S.l.], n. 2, june 2017. ISSN 2307-5376. Available at: <https://works.vntu.edu.ua/index.php/works/article/view/505>. Date accessed: 20 sep. 2017.

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