Design of a New Hydraulic Manipulator with Kinematic and Dynamic Analysis

Since the traditional hydraulic manipulator is heavy and serious in stress concentration, a new 6-DOF hydraulic manipulator was presented with high deadweight ratio and its 3D solid model was constructed. The kinematics of the manipulator was analyzed according to the structural characteristic and the kinematic constraint. A forward kinematics model of the manipulator was conducted, and the complete analytical solution of the inverse kinematics was obtained. In addition, a dynamic analysis method based on Lagrangian equation is used to optimize the structure of hydraulic manipulator. The application of Lagrangian equation to dynamic modelling and force analysis leads to an elegant and geometrically meaningful formulation. The method is implemented for the hydraulic manipulator and simulation results are provided. All the results show that the designed manipulator have a better Kinematic characteristic and work performance.