Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Dynamic Model of a Hydraulic Servo System for a Manipulator Robot
KTH, School of Electrical Engineering (EES), Electrical Energy Conversion.
2014 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this master thesis, a mathematical model of a hydraulic servo system for a manipulator robot

is completed by using several different methodologies. The models proposed are particularly

tuned for the DeLaval VMS robotic arm. The parameter identification of the robotic arm is

accomplished by dividing the model into several subsystems and investigating each system

separately by using catalogue data, experimental data and construction drawings. Furthermore,

the assumptions are proposed based on the literature review and the expertise of in-house

engineers.

After completion of parameter identification several different mathematical models including

linear and nonlinear methodologies are introduced. It is demonstrated that the improvednonlinear

model can successfully mimic the movement of the robotic arm with relatively small

errors and it is found to be fairly reliable. Moreover, the errors incurred when chamber pressures

are compared with experimental data are found to be relatively small. Furthermore, the improved

linear model have successfully delivered an accurate position estimation especially for the

medium valve opening, while the chamber pressures are relatively less accurately predicted.

The study further carries out sensitivity (uncertainty) analyses to investigate the crucial

parameters of the model since it is sometimes very problematic to precisely estimate these

parameters. It is found out that the flow coefficient and supply pressures have remarkable impact

on the results of the simulations. Therefore, it is strongly advised that these parameters should be

very carefully evaluated during the modeling process.

Finally the bulk modulus models are compared and the influence of the bulk modulus is

revealed.

Place, publisher, year, edition, pages
2014. , 81 p.
Series
EES Examensarbete / Master Thesis, XR-EE-E2C 2014:002
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-152800OAI: oai:DiVA.org:kth-152800DiVA: diva2:751504
External cooperation
DeLaval
Educational program
Master of Science - Innovative Sustainable Energy Engineering
Examiners
Available from: 2014-10-01 Created: 2014-10-01 Last updated: 2014-10-01Bibliographically approved

Open Access in DiVA

fulltext(1228 kB)1997 downloads
File information
File name FULLTEXT01.pdfFile size 1228 kBChecksum SHA-512
b919867c3ac9db749ed88722d73e7940c3d65839e01ec00e4282151d0020521a5af6ae607413fa649ee18ca55e115767ea09b60adc219ceddf23d39569c5e423
Type fulltextMimetype application/pdf

By organisation
Electrical Energy Conversion
Other Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 1997 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 189 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf