Abstract
The paper presents research results using IT-Tools for CAE/CAD and dynamic modelling, simulation, analysis, and design of a water hydraulic vane actuator for motion control of robot manipulator arm. Matlab/Simulink and CATIA are used as IT-Tools. The development and design a novel water hydraulic rotary vane actuator for robot manipulators is presented. The contribution proposes mathematical modelling, control and simulation of a novel water hydraulic rotary vane actuator applied to power and control a three-links manipulator. The results include engineering design and test of the proposed simulation models compared with IHA Tampere University's presentation of research measurements from a similar robot manipulator arm driven by tap water hydraulic components. Experimental and simulation results are compared for evaluation and verification of developed mathematical models of the motion control of the manipulator. Furthermore, presents performance results of to follow trajectories of path motion control.
