The paper presents research results using IT-Tools for CAD and dynamic modelling, simulation, analysis, and design of water hydraulic actuators for motion control of machines, lifts, cranes and robots. Matlab/Simulink and CATIA are used as IT-Tools. The contributions include results from on-going research projects on fluid power and mechatronics based on tap water hydraulic servovalves and linear servo actuators and rotary vane actuators for motion control and power transmission. Development and design a novel water hydraulic rotary vane actuator for robot manipulators. Proposed mathematical modelling, control and simulation of a water hydraulic rotary vane actuator applied to power and control a two-links manipulator and evaluate performance. The results include engineering design and test of the proposed simulation models compared with IHA Tampere University’s presentation of research measurements from a similar robot manipulator driven by tap water hydraulic components. Experimental and simulation results are compared for evaluation and verification of developed mathematical models of the motion control of the manipulator. Furthermore, this paper presents the selected experimental results and performance results.
|Title of host publication||Development of a novel water hydraulic vane actuator applied for control of a two-links test manipulator|
|Place of Publication||Great Britain, Chippenham, Wiltshire|
|Publisher||John Wiley & Sons Ltd|
|Publication status||Published - 2005|
|Series||Power Transmission and Motion Control|
|Number||Annaul Year 2005|