基于ADAMS与EASY5的液压机械臂联合仿真

Co-simulation of Hydraulic Manipulator Based on ADAMS and EASY5

液压机械臂是一个多输入多输出、强耦合的复杂机电液系统,其控制系统的性能和机械系统密不可分。采用联合仿真的方法可实现各仿真工具之间的集成和数据交换,形成机械臂的一体化数字模型。围绕某特殊环境下液压机械臂系统进行机电液耦合联合仿真,在建模软件Solidworks中建立机械臂结构模型,然后将模型导入动力学仿真软件ADAMS中建立液压机械臂的虚拟样机,随后在多学科动态系统仿真软件EASY5中建立液压机械臂的液压控制系统模型,并向ADAMS实时输入液压活塞杆的驱动力,而ADAMS则向EASY5实时输出液压缸的位移、速度。通过对机械臂各液压缸运动位移进行控制,实现了机械臂运动轨迹的控制仿真。仿真结果表明,机械臂模型与液压系统模型之间实现了无缝连接,验证了联合仿真方法的有效性和实用性,可为机械臂设计和控制提供参考。

As a multi-input and output system, the hydraulic manipulator requires a strong coupling a- mong its mechanic, electric and hydraulic parts. The integration and data switching of different simula- tion tools was achieved through the method of co-simulation, and the unified digital model was formed accordingly. A three-dimensional model of the hydraulic manipulator was created by modeling software Solidworks and then was imported into the dynamic simulation software ADAMS to obtain a virtual proto- type of the hydraulic manipulator. And then, the hydraulic controlling model of the manipulator was built with EASYS. The driving force of the hydraulic piston rod was input to ADAMS, and the position and velocity was input to EASY5 from ADAMS in turn. The whole simulation of the manipulator＇s traj- ectory control was finally achieved by regulating the motion of hydraulic cylinders. The result of a seam- less connection between the prototype model and the hydraulic model has verified that the method of co- simulation is effective and practical and shall provide reference for the design and control of the manipu- lator.