Simulation and Experimental Research on a Hydraulic-Mechanical Joint Model of a Demolition Robot's Main Arm

By taking the main arm of a hydraulic demolition robot as the research object, dynamics equations of a hydraulic system are combined with those of a mechanical arm into a set of nonlinear time-varying state equations. Then a hydraulic-mechanical joint model of the main arm is established. The model can reflect the influence of time-varying parameters (e.g. the quality and dynamics equations' coefficients) on the dynamic performance of the system real-timely. Compared simulation results with experiments, the system model is proved to be accurate and reasonable. Simultaneously, using PID control can improve the system's dynamic properties and meet the demolition robot control performance's steadiness and rapidness.