Dynamic Modelling and Stimulation of a Hydraulic Stepper Cylinder Used in Manipulators and Robots

The present paper describes dynamic modelling, results of simulation and experimental investigation of a hydraulic stepper cylinder, which find application in manipulators and robots. The method of bond graph is used for modelling of the dynamics of the considered cylinder design. First, an initial digital simulation is performed in order to calculate basic dynamic characteristics of the cylinder design. Next, an additional damping system is applied which affects dynamic characteristics of the considered cylinder. Finally, results the model simulation are verified experimentally