Modeling and Simulation of a New Hydraulic Robot for Industrial Applications

This work aims to design, analyze, and simulate an anthropomorphic robot for industrial applications featuring a fully hydraulic drive system. The robot’s design was inspired by three types of industrial robots from companies. The first section focuses on modeling the hydraulic serial robot. A kinematic model is developed using the Denavit-Hartenberg notation, which enables the determination of the manipulator’s workspace. Additionally, CAD software was used to design the components necessary for constructing the manipulator, both joints and actuators. The simulation of the hydraulic robot’s operation is explored, using two primary software tools for simulating a motion study to evaluate the robot’s performance in lifting objects of varying masses. These simulations evaluated the displacement, velocity, and acceleration of each joint. A preliminary hydraulic circuit is proposed, allowing the analysis of joint movements and the integration of mechanical design with control systems engineering. Through these simulations, this work shows how integrating design and simulation tools can enhance the functionality of hydraulically actuated robotics for LEAN automation.