Abstract
The robotic arm drived by hydraulic are widely applied in most kinds of large engineering equipments, such as concrete pump truck, bridge monitor truck, crane etc. In this paper, the movement of hydraulic robotic arms and hydraulic cylinders are separately analyzed with multi-body dynamics. And the dynamic differential equation is built with the driving force of the hydraulic cylinder as the main force. The equation is based on the theory of multi-body dynamics, building the coupled model of robotic arm system and hydraulic-driving system to study the relation between the end-position, angle and the hydraulic system.
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