Simulation Model of the Hydraulic Drive of the Rotary Column of the Robot Manipulator

The purpose of the work is to develop a simulation model of the hydraulic drive of the rotary column of the robot manipulator, which provides an adequate similarity of the proposed model with a real object. Modeling of the system was carried out with the help of modern FluidSIM Hydraulics software, which allows to intuitively reproduce and evaluate the operation of the system without using special complex mathematical structures for describing the research model. The result modeling is the transient processes hydraulic motor rotation, position value hydraulic distributor, pressure values in hydraulic lines, pushbutton state. The obtained dependences of numerical values at various time intervals, presented in the corresponding section of this work, allow us to conclude that the developed model adequately describes the nature and behavior of the object under study, corresponding to the normal mode of operation of the hydraulic system. When changing the initial data of the simulation model, it is possible to achieve other operating modes, for example, emergency ones. The developed system rotates clockwise and counterclockwise, control is carried out using a relay-contactor system. The simulation of the system was carried out taking into account the compensation of hydraulic shocks in the hydraulic lines when changing the direction of rotation in the opposite direction. Based on the results obtained, it can be concluded that the efficiency of the hydraulic drive of the rotary column of the robot manipulator depends on several main factors, such as speed, load and pressure in the hydraulic lines. Changing these parameters can affect the system both positively, leading to an increase in the efficiency of the system as a whole, and negatively and lead to a decrease in positioning accuracy, an increase in the reaction time of the system and the efficiency of power transmission. The results obtained are of interest not only for engineers of hydraulic drive systems, but also for students of technical specialties.