Abstract
The natural frequency of loaded hydraulic cylinder is an important factor that affects the dynamic characteristics and stability of the system. In this paper, the mathematical model of the hydraulic valve controlled cylinder system is established by taking the base arm and the end arm of the remote-controlled demolition robot as an example. Based on the kinetic energy principle, the estimation formula between the equivalent mass of the hydraulic cylinder and the rotation angle of the manipulator is given, and the extreme range of the equivalent mass inferred from the natural frequency of the cylinder is analyzed. Through experiments on the frequency characteristics of the remote-controlled demolition robot, it has proven that the estimation formula of the equivalent mass proposed in this paper is effective. This method can be used in the engineering design of the stability and dynamic characteristics of serial manipulator's hydraulic system of the remote-controlled demolition robot.
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