摘要: A mathematical model of the dynamic behavior of an assembly robot with five degrees of freedom, driven by four linear hydraulic servomotors and one vane-rotor type servomotor, was established for determining control strategies. Th... 展开 A mathematical model of the dynamic behavior of an assembly robot with five degrees of freedom, driven by four linear hydraulic servomotors and one vane-rotor type servomotor, was established for determining control strategies. The model is clearly structured due to a separate modeling of the arm mechanism and the servomotors. In modeling the arm mechanism, rigid body mechanics were assumed. The model is nonlinear, contains q time delays and is of the 25th order. The model was verified by comparing measured step responses of the robot with step responses of the model obtained via simulation. A modal analysis procedure was done to assess the validity of the assumption of rigid body mechanics. From the verification it follows that the model is suitable for determining control strategies. The assumption of rigid body mechanics is valid for low frequencies. A parameter sensitivity analysis of the actuator models reveals that the total model can be reduced to the 15th order. 收起