基于AMESim的超高压水射流破拆机器人机械臂架仿真

Mechanical Arms Simulation of Ultra-high Pressure Water Jet Demolition Robot Based on AMEsim

针对超高压水射技术在混泥土的破碎和拆除方面还没有成熟应用的问题,根据超高压水射流破拆机器人实验样机,提出利用多学科多领域相互融合建模仿真软件AMESim对该样机液压系统进行仿真的方法。采用虚拟样机技术建立3维模型,利用AMESim软件对破拆机器人机械臂架驱动系统进行仿真模拟,获取其相关的重要参数。结果表明:该方法可为总液压系统和传动系统实验甚至后期优化提供参考,对改进破拆机器人的结构参数或提高其工作效率起着重要性意义。

For ultra-high pressure water jet technique in the fractured and removal of concrete application has not yet mature,according to the super high pressure water jet forcible entry robot prototype,use multidisciplinary integrated modeling and simulation software AMESim to simulate hydraulic system of the prototype.Use the virtual prototype technology to build a 3D model,AMESim software is used to simulate the mechanical arm frame drive system of the robot and obtain the important parameters.Results show that the method could provide reference for test of total hydraulic system and transmission system or the later period optimization,and play important role in improving the structural parameters of the forcible entry robot or the work efficiency.