Research On Interaction Between Excavator And Environment Based On VPT

In this paper, the interaction between excavator and environment is considered. By applying VPT, dynamics of excavator-environment system is studied. The mainly contents are shown as follows:Firstly, the procedures of building virtual prototype are depicted. The method is proposed to share data of models through the interface between ADAMS and CAD software.Secondly, based on the soil dynamics theory nowadays, the effects on the digging force of some factors are analyzed. A measure to calculate digging force is also carried out.Thirdly, based on above work, dynamics of small excavator with interaction between machinery and soil is investigated. The model of this excavator is developed in environment of ADAMS/View and simulation results are also given. At the same time, macro commands are used to develop a human-computer interaction in order to watch the performance and implement control.Fourthly, digging process and related problem of huge mining excavator are studied. The model of this kind of excavator is built in the environment of ADAMS/View and dynamic response is simulated in computer. In addition, dynamics of truck-driver system is studied while the shovel is dumping material to truck. In this section, the virtual vibration model is built and numerical method is used to simulate the response.Fifthly, this paper also studies the virtual prototype of underwater digging machines. By applying Morison equation and digging force formula the drag force and digging resistant force are obtained and integrated into the virtual model of underwater excavator. The digging processes are simulated in ADAMS.The work in this paper suggests that whole simulation can be carried out by using VPT and it provides the basis for design and automated control.