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Dynamic Modeling of Three-Degree-of-Freedom Hydraulic Wrist for Mine

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DOI: 10.23977/jemm.2023.080410 | Downloads: 32 | Views: 331


Yifan Liu 1


1 Taiyuan University of Technology, Taiyuan, Shanxi, China

Corresponding Author

Yifan Liu


Hydraulic manipulator is a kind of high precision mechanical device, which plays an important role in industrial production. Wrist structure is an indispensable part of common hydraulic manipulator, and its performance directly determines the overall working condition and performance of robot actuators. Aiming at the hydraulic wrist system, the kinematics modeling is carried out by using the space coordinate transformation theory and the robot modeling theory. The Jacobian matrix of the robot and the Jacobian matrix of the robot are solved. According to the rigid body dynamics principle of the serial manipulator and the Lagrange method, the dynamic model of the hydraulic wrist is established. The Newton-Euler method is suitable for the modeling of the traditional connecting rod manipulator. The disadvantage of the Lagrange method is that the calculation amount is large when modeling the multi-degree-of-freedom system. The object of this paper is the hydraulic wrist, so the Lagrange method is used to model the wrist.


Hydraulic Wrist, Robot, Dynamics, Electromechanical-Hydraulic Co-Simulation


Yifan Liu, Dynamic Modeling of Three-Degree-of-Freedom Hydraulic Wrist for Mine. Journal of Engineering Mechanics and Machinery (2023) Vol. 8: 67-76. DOI:


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