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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| Format: | Article |
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IEEE
2020-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9102314/ |
| _version_ | 1819002789360041984 |
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| author | Yi Zhang Wenhua Ding Hua Deng |
| author_facet | Yi Zhang Wenhua Ding Hua Deng |
| author_sort | Yi Zhang |
| collection | DOAJ |
| 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. |
| first_indexed | 2024-12-20T23:10:41Z |
| format | Article |
| id | doaj.art-f17f9da5d25b460b82bf02b114a56982 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-20T23:10:41Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-f17f9da5d25b460b82bf02b114a569822022-12-21T19:23:46ZengIEEEIEEE Access2169-35362020-01-01810170810172010.1109/ACCESS.2020.29980589102314Reduced Dynamic Modeling for Heavy-Duty Hydraulic Manipulators With Multi-Closed-Loop MechanismsYi Zhang0Wenhua Ding1https://orcid.org/0000-0002-1360-5055Hua Deng2https://orcid.org/0000-0003-2075-2990School of Mechanical and Electrical Engineering, Central South University, Changsha, ChinaSchool of Mechanical and Electrical Engineering, Central South University, Changsha, ChinaSchool of Mechanical and Electrical Engineering, Central South University, Changsha, ChinaA 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.https://ieeexplore.ieee.org/document/9102314/Dynamic modelingheavy-duty hydraulic manipulatormulti-closed-loop mechanismreduced system dynamic methodscrew theory |
| spellingShingle | Yi Zhang Wenhua Ding Hua Deng Reduced Dynamic Modeling for Heavy-Duty Hydraulic Manipulators With Multi-Closed-Loop Mechanisms IEEE Access Dynamic modeling heavy-duty hydraulic manipulator multi-closed-loop mechanism reduced system dynamic method screw theory |
| title | 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_short | 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 |
| topic | Dynamic modeling heavy-duty hydraulic manipulator multi-closed-loop mechanism reduced system dynamic method screw theory |
| url | https://ieeexplore.ieee.org/document/9102314/ |
| work_keys_str_mv | AT yizhang reduceddynamicmodelingforheavydutyhydraulicmanipulatorswithmulticlosedloopmechanisms AT wenhuading reduceddynamicmodelingforheavydutyhydraulicmanipulatorswithmulticlosedloopmechanisms AT huadeng reduceddynamicmodelingforheavydutyhydraulicmanipulatorswithmulticlosedloopmechanisms |