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• W2116797307 abstract "In this master thesis, a mathematical model of a hydraulic servo system for a manipulator robotis completed by using several different methodologies. The models proposed are particularlytuned for the DeLaval VMS robotic arm. The parameter identification of the robotic arm isaccomplished by dividing the model into several subsystems and investigating each systemseparately by using catalogue data, experimental data and construction drawings. Furthermore,the assumptions are proposed based on the literature review and the expertise of in-houseengineers.After completion of parameter identification several different mathematical models includinglinear and nonlinear methodologies are introduced. It is demonstrated that the improvednonlinearmodel can successfully mimic the movement of the robotic arm with relatively smallerrors and it is found to be fairly reliable. Moreover, the errors incurred when chamber pressuresare compared with experimental data are found to be relatively small. Furthermore, the improvedlinear model have successfully delivered an accurate position estimation especially for themedium valve opening, while the chamber pressures are relatively less accurately predicted.The study further carries out sensitivity (uncertainty) analyses to investigate the crucialparameters of the model since it is sometimes very problematic to precisely estimate theseparameters. It is found out that the flow coefficient and supply pressures have remarkable impacton the results of the simulations. Therefore, it is strongly advised that these parameters should bevery carefully evaluated during the modeling process.Finally the bulk modulus models are compared and the influence of the bulk modulus isrevealed." @default.
• W2116797307 created "2016-06-24" @default.
• W2116797307 creator A5038142727 @default.
• W2116797307 date "2014-01-01" @default.
• W2116797307 modified "2023-09-27" @default.
• W2116797307 title "Dynamic Model of a Hydraulic Servo System for a Manipulator Robot" @default.
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