Actuator forces in hydraulic manipulators

バージョン 1.0.0 (1.96 MB) 作成者: Goran Petrovic

It compares values for linear actuator forces in a hydraulic manipulator obtained both analytically (Newton-Euler) and using Simscape.

https://github.com/petrovicrgoran/ForcesModelling

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更新 2023/1/19

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Mathematical modelling and virtual decomposition control of heavy-duty parallel-serial manipulators

The repository contains Simulink model and MATLAB code for the real-world hydraulic manipulator forces simulation, based on the approach proposed in the article:

https://doi.org/10.1016/j.mechmachtheory.2021.104680

Requirements

The simulation is performed in MATLAB/Simulink. Simulink Simscape Multibody Add-On libraries are required and MATLAB version 2017a or newer.

Usage

Make the main folder as a working folder and run 'SimInitializationGP.m' for the simulation initialization. Afterwards, run 'SimForcesGP2020a.slx' or 'SimForces2017a.slx'.

Licence

See LICENSE.txt for licencing information.

Find it also at MATLAB Central File Exchange

Acknowledgement

Credit for all the CAD models goes to Dr Janne Koivumäki.

Check out his list of publications https://scholar.google.fi/citations?user=Llrx-nsAAAAJ&hl=fi

引用

Petrović, Goran R., and Jouni Mattila. “Mathematical Modelling and Virtual Decomposition Control of Heavy-Duty Parallel–Serial Hydraulic Manipulators.” Mechanism and Machine Theory, vol. 170, Elsevier BV, Apr. 2022, p. 104680, doi:10.1016/j.mechmachtheory.2021.104680.

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MATLAB リリースの互換性

作成: R2022a

R2017a 以降のリリースと互換性あり

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InitializeSimulationGP.m

バージョン	公開済み	リリースノート
1.0.0	2023/1/19		ダウンロード

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MLA	Petrović, Goran R., and Jouni Mattila. “Mathematical Modelling and Virtual Decomposition Control of Heavy-Duty Parallel–Serial Hydraulic Manipulators.” Mechanism and Machine Theory, vol. 170, Elsevier BV, Apr. 2022, p. 104680, doi:10.1016/j.mechmachtheory.2021.104680.
APA	Petrović, G. R., & Mattila, J. (2022). Mathematical modelling and virtual decomposition control of heavy-duty parallel–serial hydraulic manipulators. Mechanism and Machine Theory, 170, 104680. Elsevier BV. Retrieved from https://doi.org/10.1016%2Fj.mechmachtheory.2021.104680
BibTeX	@article{Petrovi__2022, doi = {10.1016/j.mechmachtheory.2021.104680}, url = {https://doi.org/10.1016%2Fj.mechmachtheory.2021.104680}, year = 2022, month = {apr}, publisher = {Elsevier {BV}}, volume = {170}, pages = {104680}, author = {Goran R. Petrovi{\'{c}} and Jouni Mattila}, title = {Mathematical modelling and virtual decomposition control of heavy-duty parallel{\textendash}serial hydraulic manipulators}, journal = {Mechanism and Machine Theory} }