학술논문
Vector form description of hydraulic cylinders interaction with links of actuating unit
Document Type
Conference
Author
Source
2016 2nd International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM) Industrial Engineering, Applications and Manufacturing (ICIEAM), International Conference on. :1-4 2016
Subject
Language
Abstract
This paper describes interaction between mechanism links connected by a turning pair and the elements of hydraulic linear motion engine. This is done in a compact vector form. Expressions were derived for generalized driving force related to the angle of reciprocal link rotation and for transfer functions connecting displacement and velocity of the hydraulic-cylinder rod of the engine with the angle and angular velocity of relative link rotation. A vector-matrix form of these expressions simplifies their application in algorithms of automatic formation of multilink mechanism dynamic equations. A mathematical model of the actuator hydraulic part employs hydraulic fluid consumption balance equations with account for its volumetric compression providing one first-order differential equation for each engine cavity. The paper demonstrates results of numeric realization of the proposed description for a flat three-link mechanism driven by three hydraulic engines with program control.