抄録
A parallel link mechanism with six degrees of freedom using electrohydraulic servo cylinders has large rigidity and support power. This feature is widely used for a driving device with multi degrees of freedom that has a heavy load and needs large driving force. In this research, the basic characteristics are revealed by experiment and theory. In the former report, the characteristics of the hydraulic servo system were considered and a detailed mathematical model was made. The transfer function was obtained by linear approximation, and the frequency response was presented. In this report, a nonlinear simulation is executed based on the detailed mathematical model. The frequency response obtained by the simulation is more accurate than the frequency response obtained by the linear approximation of the former report. It is shown that the amplitude change of the desired value has a big influence on the frequency response. Also, the appearance of the change of each part, and the influence of the nonlinear characteristics are presented. In addition, the experimental result and simulation result to a rectangular wave input coincide in detail.
