The Co-simulation Reasearch Of Engineering Manipulator Hydraulic Control System Based On ADAMS And AMEsim

Hydraulic manipulator has been widely used in the field of urban construction,national defense construction, transportation and energy exploitation. The way using virtual prototyping technology to design hydraulic manipulator can greatly shorten the product development cycle. Building mechanical-hydraulic model of 3-joint manipulator based on Solidworks, ADAMS and AMEsim, this paper studies on modeling and verification of manipulator, kinematic analysis, dynamic analysis and position control of manipulator endpoint. The main contents include the following three parts:(1)Modeling and verification of manipulator. The model of 3-joint manipulator is constructed in Solidworks, imported into ADAMS and defined constraints and relevant motion functions. Then, mathematical model is obtained by Lagrangian method and the kinematics and dynamics are simulated to validate the model.(2)Trajectory planning of manipulator based on ADAMS. The model of reverse kinematics is simulated in ADAMS to measure joint angle and angular velocity, which are used to set trajectory tracking target to finish the design and simulation of control system in MATLAB/Simulink.(3)Establishing the hydraulic system model and achieving position control of manipulator endpoint based on ADAMS and AMEsim. This paper establishes the hydraulic driving model in AMEsim, adopts PID control algorithm to achieve mechanical-hydraulic co-simulation and verifies its rationality and effectiveness by the simulations.