Fire-fighting robot arm double-coupling simulation method

Abstract

The invention relates to a fire-fighting robot arm double-coupling simulation method, which is characterized by comprising the steps of hydraulic loop design, a Pro / e rigid body modeling, an ANSYS flexible body modeling, a kinematics and dynamics simulation, a machine and hydraulic coupling simulation, rigid and flexible coupling simulation and double-coupling analysis, wherein the rigid and flexible coupling simulation is that an ANSYS flexible body model of a large arm and an ANSYS flexible body model of a small arm respectively replace rigid body models of the large arm and the small arm in a rigid body assembling body, thereby obtaining the rigid and flexible coupling model to carry out the rigid and flexible coupling simulation; and the double-coupling analysis is that the combined simulation of the machine and hydraulic simulation and the rigid and flexible simulation. The method is mainly used for the dynamic simulation and experiment of the fire-fighting robot arm, is convenient for integrally mastering the change rules of stress, strain and hydraulic pressure system parameters, saves the simulation time, improves the simulation efficiency, and shortens the design cycle ofthe robot arm.

Description

technical field [0001] The invention relates to a mechanical-hydraulic system simulation method, in particular to a double-coupled dynamic simulation method of a fire-fighting robot arm. Background technique [0002] Fire-fighting robots are still new things in my country, and there are few studies on them, and there are not many simulation analysis and optimization of their working devices. There are many, and there are few simulation studies on dynamics combined with finite elements; the kinematics and dynamics simulation studies of robot arms are usually carried out under the assumption of pure rigid body motion and ideal load, ignoring the deformation of flexible parts will make the results different from the actual It is quite far away; the interaction between the mechanical system and the hydraulic system is usually ignored, and the applied driving source is generally a STEP function that directly acts on the moving pair of the telescopic hydraulic cylinder or the rotati...

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Problems solved by technology

[0003] The purpose of the present invention is to overcome the above-mentioned shortcomings of the original circuit components, complex structure, and not suitable for direct modeling and simulation, to provide a hydraulic circuit system of a fire-fighting robot arm, and to obtain a model of the interaction between the hydraulic circuit and the mechanical system, which is convenient simulation analysis

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