MOTION OF A HYDRAULIC PARALLEL LINK SERVOMECHANISM WITH THREE DEGREES OF FREEDOM

Abstract

This paper shows the coupling motion characteristics of an electrohydraulic parallel link servomechanism with three degrees of freedom. A parallel link with multi degrees of freedom consists of multi cylinder servo systems, and an end effector. The motion of these servo systems has interaction with each other. Its analysis is not easy, because the dynamics of the system is Try complicated. To make it simple, spring-damper model is applied for the cylinder servo system. The characteristics of coupling motion is represented by frequency response of coupling amplitude ratio with the parameters of equivalent natural frequency ω_ei and damping ratio ζ_ei.