Fire-fighting robot arm double-coupling simulation method

A technology of fire-fighting robot and simulation method, which is applied in the direction of instruments, special data processing applications, electrical digital data processing, etc. It can solve the problems of many circuit components, not suitable for direct modeling and simulation, complex structure, etc., so as to achieve easy overall grasp and shorten Design cycle, effect of improving simulation efficiency

Inactive Publication Date: 2011-10-19
SHANDONG UNIV OF TECH
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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, ...

Method used

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  • Fire-fighting robot arm double-coupling simulation method
  • Fire-fighting robot arm double-coupling simulation method
  • Fire-fighting robot arm double-coupling simulation method

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Embodiment Construction

[0028] 1-base; 2-big arm cylinder group; 3-long connecting rod; 4-short connecting rod; 5-triangular connecting rod; 6-small arm; 7-claw cylinder group; 10-motor group; 11-arm cylinder group; 12-big arm.

[0029] Such as figure 1 As shown, the fire-fighting robot arm dual-coupling simulation method of the present invention includes hydraulic circuit design, Pro / e rigid body modeling, ANSYS flexible body modeling, kinematics dynamics simulation, machine-hydraulic coupling simulation, rigid-flexible coupling simulation, dual coupling Analysis, the hydraulic circuit design is the hydraulic circuit design of three groups of hydraulic cylinders of the mechanical arm, including the drawing of the hydraulic circuit diagram and the setting of the hydraulic components. The rigid body model is the modeling and assembly of all rigid body parts, which are imported into the virtual The rigid-flexible coupling model can be formed with the flexible body model in the prototype software ADAMS...

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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...

Claims

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Application Information

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IPC IPC(8): G06F17/50
Inventor 张为春于蓬
Owner SHANDONG UNIV OF TECH
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