“…The fixed displacement hydraulic motor is modeled taking into account constant volumetric, ηv, and hydraulic-mechanic, ηmech, efficiencies, the nominal pressure, pnom, the angular speed, ωMH, and several characteristics of the hydraulic fluid such as the fluid kinematic viscosity, υ, and the fluid density, ρ. Hence, the flow through the hydraulic motor is governed by Equation (9) [50], whereas the generated torque is calculated using Equation (10). The main parameters are described in Table 7, where ∆p represents the pressure drop between the inlet and outlet of the hydraulic motor.…”