Research On Modeling And Control Of Hydraulic Manipulator Of Fully Automatic Grasping And Transmitting Projectile

The strong army is the proper meaning of the powerful country,and the nineteen major reports put forward the "road of insisting on the strong army with Chinese characteristics".Our army will update a large number of new weapons and equipment every year,and the old weapons and ammunition will be eliminated after that,so there will be produced a lot of used weapons and ammunition.Our army has mainly taken destruction and disposal of these waste ammunitions,which has caused great waste.In order to improve the effective use of weapon resources,we can make use of old gun cartridges into a new weapon and ammunition.The process of recovering and processing the projectile needs highly automation.Based on the above considerations,we have designed a set of hydraulic transshipment manipulator to replace the manpower,so that the projectile can enter or out the mold automatically and achieve the safe,stable and efficient automatic production.This paper mainly designs the overall structure of the hydraulic manipulator of the projectile,and draws of the parts and the whole of the hydraulic manipulator by SolidWorks.According to the corresponding working conditions and loads,ANSYS is used to analyze the stress and modal analysis of the main components,and the relevant hydraulic components are calculated and equipped,and the performance of the hydraulic manipulator is checked.In order to meet the requirements of the position control precision of the manipulator,the manipulator adopts the electro-hydraulic proportional control.In addition,in order to improve the stability of the overall motion of the hydraulic manipulator,the asymmetric valve is used.According to the corresponding mathematical model,the electro-hydraulic proportional control system model is built by using the module in MATLAB/Simulink software,and the steady-state characteristics,response attributes and dynamic performance of the system are studyed.According to the actual characteristics of the hydraulic system,PID control and adjustment of parameters are added to the simulation system in order to achieve satisfactory control effect.In this paper,AMESim is used for physical modeling,and the hydraulic characteristics of hydraulic valves and cylinders,such as flow and pressure,are tested,which is mainly used to verify the performance of hydraulic manipulator system.The bed of electro-hydraulic proportional control was built,and the curve of the response of the hydraulic cylinder was obtained and compared with the previous simulation curve.