The Kinematic and Dynamic Modeling and Numerical Calculation of Robots with Complex Mechanisms Based on Lie Group Theory

Figure 8

The driving force of each hydraulic cylinder and its corresponding generalized force. The driving force of (a) the first hydraulic cylinder and its corresponding generalized force, (b) the second hydraulic cylinder and its corresponding generalized force, (c) the third hydraulic cylinder and its corresponding generalized force, and (d) the fifth hydraulic cylinder and its corresponding generalized force.

(a)

(b)

(c)

(d)