【作者】 潘双夏； 刘静； 冯培恩； 高峰；

【Author】 Pan Shuangxia, Liu Jing, Feng Peien, Gao Feng(The State Key Laboratory of Fluid Power Transmission & Control, Zhejiang University, Hangzhou 310027, China)

【机构】 浙江大学液体传动与控制国家重点实验室；

【摘要】 以挖掘机机器人虚拟样机模型的实现为例,介绍了在多种环境下对挖掘机进行建模与联合仿真的实现策略。在分析机械系统动力学分析软件ADAMS和工程仿真软件MATLAB的特点的基础上,提出了在ADAMS中建立虚拟样机环境,利用Matlab软件中的Simulink工具箱建立了参数化和模块化的挖掘机液压系统和控制系统仿真模型,研究了两种软件之间的接口技术,实现机械、液压、控制子系统的有机集成,并进行了机电液一体化的仿真研究。更多还原

【Abstract】 A method of modeling and simulating within different environment has been developed in this paper, with the virtual excavator-robot prototyping technology based on this method as an example. The virtual environment is built within ADAMS and the parameterized and modularized excavator hydraulic and control systems are built in MATLAB with the help of the toolbox Simulink. The interface method between the two type of software is studied and with the integration of the mechanical, hydraulic and control systems, the co-simulation with this technology is studied in the end.更多还原