挖掘机器人虚拟样机建模策略与仿真技术研究_刘静.pdfVIP

38 11 浙 江 大 学 学 报( ) Vol 38 No 11 2004 11 Journal of Zhejiang University ( Engineering Science) Nov 2004 刘 静, 潘双夏, 冯培恩 ( , 310027) : , 3 5 t , Pro/ E ADAMS , ADAMS , , , , , : ; ; ADAMS; Pro/ E : TU621;TP391 9 : A : 1008 973X( 2004) 11 1490 06 Modeling and simulation of virtual robot ic excavator prototype LIU Jing, PAN Shuang-xia, FENG Pei- en (StateKey Laboratory of Fluid Power Transmission and Control, Zhej iang University, angzhou 310027, China) Abstract: In order to generally analyze the performance of robotic excavator, the virtual testing and evalu ation method based on digital virtual prototype was proposed The subsystem modeling and model integration technology w ere studied, taking a 3 5 t excavator for test as studying object The mechanical system, hydraulic system, servo- control system, en- ergy- saving control system and resistive force models w ere bu ilt using the software of Pro/ E and ADAMS ( automat ic dy- namic analysis of mechanical system) The virtual robotic excavator model integrat ing w ith mechanical, hydraulic and control system models w as built through parameter correlation and model integration under ADAMS environment The ac- curacy of the model was validated through tests This integrated model can stimulate all of the subsystems of the robot ic excavator and analyze their performance substituting the real tests This model can give a comprehensive assessment of robotic excavator, improve the speed and accuracy of product development, and low er the development expenses Key words: robot ic excavator; virtual prototype; ADAMS ; Pro/ E 20 80 ,