Preliminary Experimental Research on the Influence of Counterbalance Valves on the Operation of a Heavy Hydraulic Manipulator during Long-Range Straight-Line Movement

Marian Janusz Łopatka, Piotr Krogul, Arkadiusz Rubiec and Mirosław Przybysz
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Marian Janusz Łopatka: Faculty of Mechanical Engineering, Military University of Technology, Kaliskiego 2, 00-908 Warsaw, Poland
Piotr Krogul: Faculty of Mechanical Engineering, Military University of Technology, Kaliskiego 2, 00-908 Warsaw, Poland
Arkadiusz Rubiec: Faculty of Mechanical Engineering, Military University of Technology, Kaliskiego 2, 00-908 Warsaw, Poland
Mirosław Przybysz: Faculty of Mechanical Engineering, Military University of Technology, Kaliskiego 2, 00-908 Warsaw, Poland

Energies, 2022, vol. 15, issue 15, 1-17

Abstract: The effective use of robotic manipulators is particularly important when carrying out hazardous tasks. Often, for this type of mission, manipulators equipped with a hydraulic drive system are used, and their work results primarily from the implementation of precise movements through their effectors. In heavy manipulators, limiting the uncontrolled movement resulting from high inertia and relatively low stiffness has an impact on the improvement of the control precision. Therefore, the paper presents experimental studies that allow the assessment of the impact of the use of counterbalance valves on the precision and dynamics of a manipulator with a hydrostatic drive system. The tests were carried out for a wide range of effector velocities along a horizontal trajectory, on the basis of which, it was found that it was possible to improve the precision and dynamics of the work of such manipulators due to the precision of the trajectory and pressures in the drive system.

Keywords: manipulator; counterbalance valve; hydraulic drive system; accuracy (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2022
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