挖掘机器人虚拟样机建模策略与仿真技术研究

Modeling and simulation of virtual robotic excavator prototype

为了全面分析挖掘机器人的综合性能,提出基于数字化虚拟样机的虚拟测试评估方法.以一台3.5t试验型挖掘机器人为对象,系统研究挖掘机器人虚拟样机的子系统建模及模型集成技术.利用Pro/E和ADAMS软件建立机械子系统、液压子系统、伺服控制子系统、节能控制子系统以及土壤挖掘阻力模型,并在ADAMS环境中利用参数关联和模型集成技术,将各个子系统模型集成,构成机电液一体化的挖掘机器人虚拟样机模型.最后通过实验证明了样机模型的精确性.该集成样机模型能够代替实际物理样机对各个子系统的性能进行仿真分析,并从系统的角度对挖掘机器人的性能进行综合评估,提高了产品开发速度和精度,降低了开发成本.

In order to generally analyze the performance of robotic excavator, the virtual testing and evaluation method based on digital virtual prototype was proposed. The subsystem modeling and model integration technology were studied, taking a 3.5 t excavator for test as studying object. The mechanical system, hydraulic system, servo-control system, energy-saving control system and resistive force models were built using the software of Pro/E and ADAMS (automatic dynamic analysis of mechanical system). The virtual robotic excavator model integrating with mechanical, hydraulic and control system models was built through parameter correlation and model integration under ADAMS environment. The accuracy of the model was validated through tests. This integrated model can stimulate all of the subsystems of the robotic 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 lower the development expenses.