Joint Reducer Stiffness Parameters for Hydraulic Manipulator Modeling

Joint stiffness parameters for a hydraulic manipulator model used in a feedforward static compensation strategy. The dataset, created by Angang Cao, is associated with a simulation study that achieved a repeatable positioning accuracy of ±0.1 mm. The data was last updated on May 19, 2026.

Use Cases

• Calibrating multibody dynamics simulations based on the described joint stiffness modeling.
• Developing feedforward control algorithms for hydraulic manipulators based on the analytical stiffness parameters.
• Benchmarking the performance of weak-rigid manipulator control strategies against the reported 97.49% error reduction.
• Informing the design of automated cleaning systems for waste-to-energy plant leachate grids based on the ±0.1 mm accuracy target.

Strengths

• Dataset is associated with a method validated via Adams multibody dynamics simulations.
• The associated research reports specific error reductions: 97.49% (X), 92.91% (Y), and 94.84% (Z).
• The dataset is licensed under CC-BY-4.0, allowing for open sharing and reuse.

Limitations

• Column-level documentation is absent; field semantics must be inferred after download.
• Row count is unknown, which may limit suitability assessment.
• The description notes the simulation results are an idealized upper bound; real-world accuracy will be lower.

Provenance

Source

Angang Cao

Collection Method

Likely derived from analytical modeling for a simulation study.

Freshness

Last updated 2026-05-19 17:33:49; freshness should be verified.