Concept and preliminary research of anthropomorphic manipulator with hydrostatic drive system for mobile robot

摘要

In this paper was presented the construction's concept of anthropomorphic manipulator with hydrostatic drive system. Furthermore structural assumptions, spaces of application and kinematics structure anthropomorphic manipulator were shown. The preliminary studies of manipulator were completed. This paper contains the determine the minimum number of actuators necessary to locate the working tool in workspace. In this research three types of moves were examined: vertical and horizontal in two different directions. Moreover it considered determining the minimum oil flow for hydraulic actuators for various gripper's speed, while the manipulator does the assumed movements.