Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
The influence of friction in the hydraulic cylinders on the behaviour of a manipulator
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Elements.
2006 (English)In: The proceedings of NordTrib, 2006Conference paper, Published paper (Refereed)
Abstract [en]

In mobile units such as construction machines that handle high loads, hydraulic cylinders are often used to actuate the manipulators. Such machinery is often manually operated, with each cylinder operating separately. However, the increased use of microcomputers opens up the possibility of computer control of the motions of all types of manipulator. Such control would facilitate the implementation of end-point-controlled hydraulic-driven manipulators. It could also reduce the learning time for operators and prolong the life of machines. However, the nonlinear effects of friction in the hydraulic cylinders may be a problem if they disturb the motion of the manipulator arms. There is thus a need to investigate the influence of friction in hydraulic cylinders on manipulator motion.

This paper reports on the use of a computer model of a hydraulic-powered manipulator arm to simulate the effects of friction, as represented in several different friction models, on the dynamics of a manipulator. The model used was modular and included two hydraulic cylinders, whose motion was influenced by friction in the cylinders. This model and the work reported in this paper are part of a project to investigate the possibility of implementing end-point control.

A simulation with realistic data revealed that in general the friction in the hydraulic cylinders has only a minor effect on the motion of the manipulator arms. However, very high friction can have a noticeable effect, particularly if the static friction is much higher than the dynamic friction.

Place, publisher, year, edition, pages
2006.
Keyword [en]
Friction, friction models, simulation, manipulator
National Category
Tribology
Identifiers
URN: urn:nbn:se:kth:diva-78620OAI: oai:DiVA.org:kth-78620DiVA: diva2:492702
Conference
Nordtrib 2006, The 12th Nordic Symposium on Tribology. Helsingör, Denmark. June 7-9, 2006
Note
QC 20120529Available from: 2012-02-08 Created: 2012-02-08 Last updated: 2012-05-29Bibliographically approved

Open Access in DiVA

No full text

Search in DiVA

By author/editor
Möller, BjörnAndersson, Sören
By organisation
MechatronicsMachine Elements
Tribology

Search outside of DiVA

GoogleGoogle Scholar

urn-nbn

Altmetric score

urn-nbn
Total: 185 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf