三自由度工业机器平台机电液一体化仿真

Electromechanical-hydraulic Integration Simulation of Three Degrees of Freedom Industrial Machine Platform

提出了一种通过液压系统控制的三自由度工业机器平台,着重介绍了三自由度机器平台的机械结构及性能指标参数。通过ADAMS、AMESim、Matlab/Simulink软件间的协同仿真技术开展了该机器平台的机电液一体化的仿真分析,确定所设计的三自由度机器人能够较好地跟踪给定的目标指令,满足系统设计要求。通过虚拟仿真,提高了机电液复杂系统分析的效率,仿真方法对于复杂机电液系统具有普遍的适应性。

A three degrees of freedom industrial machine platform controlled by a hydraulic system was proposed,and its mechanical structure and performance parameters were introduced.The electromechanical-hydraulic integration simulation analysis of the machine platform was carried out through the co-simulation technology among ADAMS,AMESim and Matlab/Simulink software.It is found that the three degrees of freedom machine platform can track the given target instruction well and meet the system design requirements.The virtual simulation can improve the analysis efficiency of complex electromechanical-hydraulic system,and the simulation method has general adaptability to complex electromechanical-hydraulic system.