Selected parameter’s simulation research in a hydrostatic drive system for anthropomorphic manipulators used in transportation

  • Karol Cieślik Military University of Technology
  • Piotr Krogul Military University of Technology
  • Kacper Spadło Military University of Technology
  • Rafał Typiak Military University of Technology
Keywords: simulation, research, hydrostatic drive system, transportation


The article compares anthropomorphic and industrial manipulators. The basic differences between these constructions are indicated, resulting both from the control method as well as the kinematic structure. Presented the method of developing the kinematic structure of the anthropomorphic manipulator as a construction similar to the human upper limb. An anthropomorphic manipulator model was developed based on accepted assemblies concerning a significant increase in human working capacity in the context of reloading and transport work. Simulation studies were carried out on the manipulator model developed in the aspect of determining selected hydro-static drive system parameters.


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