Reduced Dynamic Modeling for Heavy-Duty Hydraulic Manipulators With Multi-Closed-Loop Mechanisms

A reduced dynamic modeling approach is introduced to systematically establish explicit closed-form dynamic equations for the main motion system of a heavy-duty hydraulic manipulator with multi-closed-loop mechanisms. The harmonious combination of the reduced system dynamic method with Lagrangian for...

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Autores principales:	Yi Zhang, Wenhua Ding, Hua Deng
Formato:	article
Lenguaje:	EN
Publicado:	IEEE 2020
Materias:	Dynamic modeling heavy-duty hydraulic manipulator multi-closed-loop mechanism reduced system dynamic method screw theory Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/f17f9da5d25b460b82bf02b114a56982
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spelling	oai:doaj.org-article:f17f9da5d25b460b82bf02b114a569822021-11-19T00:04:15ZReduced Dynamic Modeling for Heavy-Duty Hydraulic Manipulators With Multi-Closed-Loop Mechanisms2169-353610.1109/ACCESS.2020.2998058https://doaj.org/article/f17f9da5d25b460b82bf02b114a569822020-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9102314/https://doaj.org/toc/2169-3536A reduced dynamic modeling approach is introduced to systematically establish explicit closed-form dynamic equations for the main motion system of a heavy-duty hydraulic manipulator with multi-closed-loop mechanisms. The harmonious combination of the reduced system dynamic method with Lagrangian formulation, the principle of virtual work and screw theory greatly reduces the tedious calculation and largely simplifies the derivation of explicit control-orientated closed-form dynamic equations for complex multi-closed-loop mechanisms. Only three coupled subsystems, two Jacobian matrices, and two Hessian matrices are involved, thereby greatly reducing the order and the complexity of the closed-form dynamic equations. In addition to calculating the two Jacobian matrices by screw theory, the two Hessian matrices are also calculated straightforwardly by screw theory, thereby avoiding the difficulty in obtaining Hessian matrices by differentiating the Jacobian matrices and simplifying the calculation of the two Hessian matrices. No parts of dynamic equations are neglected in the derivation of the dynamic model. Thus, the accurate dynamic motion equations for the main motion system are obtained concisely. The derived closed-form dynamic equations are explicit with respect to the system inputs, which facilitate dynamics analysis and controller design. The experiments on the main motion system of the heavy-duty hydraulic forging manipulator demonstrate the efficiency of the proposed approach.Yi ZhangWenhua DingHua DengIEEEarticleDynamic modelingheavy-duty hydraulic manipulatormulti-closed-loop mechanismreduced system dynamic methodscrew theoryElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENIEEE Access, Vol 8, Pp 101708-101720 (2020)
institution	DOAJ
collection	DOAJ
language	EN
topic	Dynamic modeling heavy-duty hydraulic manipulator multi-closed-loop mechanism reduced system dynamic method screw theory Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Dynamic modeling heavy-duty hydraulic manipulator multi-closed-loop mechanism reduced system dynamic method screw theory Electrical engineering. Electronics. Nuclear engineering TK1-9971 Yi Zhang Wenhua Ding Hua Deng Reduced Dynamic Modeling for Heavy-Duty Hydraulic Manipulators With Multi-Closed-Loop Mechanisms
description	A reduced dynamic modeling approach is introduced to systematically establish explicit closed-form dynamic equations for the main motion system of a heavy-duty hydraulic manipulator with multi-closed-loop mechanisms. The harmonious combination of the reduced system dynamic method with Lagrangian formulation, the principle of virtual work and screw theory greatly reduces the tedious calculation and largely simplifies the derivation of explicit control-orientated closed-form dynamic equations for complex multi-closed-loop mechanisms. Only three coupled subsystems, two Jacobian matrices, and two Hessian matrices are involved, thereby greatly reducing the order and the complexity of the closed-form dynamic equations. In addition to calculating the two Jacobian matrices by screw theory, the two Hessian matrices are also calculated straightforwardly by screw theory, thereby avoiding the difficulty in obtaining Hessian matrices by differentiating the Jacobian matrices and simplifying the calculation of the two Hessian matrices. No parts of dynamic equations are neglected in the derivation of the dynamic model. Thus, the accurate dynamic motion equations for the main motion system are obtained concisely. The derived closed-form dynamic equations are explicit with respect to the system inputs, which facilitate dynamics analysis and controller design. The experiments on the main motion system of the heavy-duty hydraulic forging manipulator demonstrate the efficiency of the proposed approach.
format	article
author	Yi Zhang Wenhua Ding Hua Deng
author_facet	Yi Zhang Wenhua Ding Hua Deng
author_sort	Yi Zhang
title	Reduced Dynamic Modeling for Heavy-Duty Hydraulic Manipulators With Multi-Closed-Loop Mechanisms
title_short	Reduced Dynamic Modeling for Heavy-Duty Hydraulic Manipulators With Multi-Closed-Loop Mechanisms
title_full	Reduced Dynamic Modeling for Heavy-Duty Hydraulic Manipulators With Multi-Closed-Loop Mechanisms
title_fullStr	Reduced Dynamic Modeling for Heavy-Duty Hydraulic Manipulators With Multi-Closed-Loop Mechanisms
title_full_unstemmed	Reduced Dynamic Modeling for Heavy-Duty Hydraulic Manipulators With Multi-Closed-Loop Mechanisms
title_sort	reduced dynamic modeling for heavy-duty hydraulic manipulators with multi-closed-loop mechanisms
publisher	IEEE
publishDate	2020
url	https://doaj.org/article/f17f9da5d25b460b82bf02b114a56982
work_keys_str_mv	AT yizhang reduceddynamicmodelingforheavydutyhydraulicmanipulatorswithmulticlosedloopmechanisms AT wenhuading reduceddynamicmodelingforheavydutyhydraulicmanipulatorswithmulticlosedloopmechanisms AT huadeng reduceddynamicmodelingforheavydutyhydraulicmanipulatorswithmulticlosedloopmechanisms
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Reduced Dynamic Modeling for Heavy-Duty Hydraulic Manipulators With Multi-Closed-Loop Mechanisms

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