Research On Virtual Prototyping And Simulation Based On PC02-1Komatsu Hydraulic Excavator

Hydraulic excavator is one of the most complex and widely used construction machinery. The development trend of the hydraulic excavator is maximizing, micromation, versatility, customization, and automation. Parts and movement of hydraulics excavator are much, so must evaluate merits of their performance from the overall. People have realized that every part of excavator is even the best, can not guarantee that the overall performance of excavators is the best. The optimization of overall system is not the simple sum of optimization for all parts. Hydraulic excavator involves many disciplines, including mechanical kinematics, dynamics, hydraulics, fluid mechanics, electromechanical control, human-computer interaction, etc. So, to obtain the integrated optimal solution of excavator need not only the joint efforts of experts, but also their collaborative work, And visual design, virtual prototype technology and concurrent design can just offer the effective way for many experts in collaborative design. The excavator, as one of the most important construction machinery, attracts many researchers and academic institutions at home and abroad to make correlative researches by this advanced and maturing ideal. Virtual prototyping technologies provides the possibility to evaluate the overall shape of the excavator, mechanical systems, hydraulic systems, control systems and other aspects at the same time, has conditions for evaluation for the whole machine, take the various disciplines into account, and really achieves optimization for the whole system and all performance. Designers can really simulate all kinds of excavator’s work, rapidly analyze various designs, make numerous risk experiments which are not done by true machine, modify parameters in accordance with the optimization, market and user requirements at any time through the whole simulation process until the optimization of machine design is required. Based on the analysis of the characteristics of hydraulic robotic excavator, this paper has proposed the implementation platform, framework and procedures for the virtual hydraulic robotic excavator prototype, analyzed the key technology and the implemented difficulties, and focused on researching the development and application of philosophy for visual design, virtual prototype technology and concurrent design for hydraulic robotic excavator. First and foremost, I have studied modeling techniques for all subsystems of hydraulic robotic excavator, built models of these subsystems, and proposed design ideas and general methods and procedures of development for new products using visual design, virtual prototype technology and concurrent design. On this basis, I have made simulation analysis of mechanical kinematics and dynamics for the typical operating conditions and control for work units, and made many experiments on PC02-1Komatsu hydraulic robotic excavator in our laboratory to initially analyze and verify precision of the virtual prototype model. What’s more, I have made integrated modeling and co-simulating of the mechanical and electro-hydraulic system for the virtual PC02-1Komatsu hydraulic excavator-robot prototype. Finally, I have made finite element analysis on key components at typical operating conditions.