{"title":"7自由度双臂机械液压仿真分析研究","authors":"Seong-Woong Choi, Q. Le, Soon-yong Yang","doi":"10.1109/ICMECT.2019.8932097","DOIUrl":null,"url":null,"abstract":"In this paper, we have studied hydraulic system simulation of 7 DOFs dual-arm work machine for disaster response. The hydraulic simulation model is designed using SimulationX to verify the hydraulic power performance of dual arm's operation. Flow rate is analysis by joint velocity of the Work Machine. We also performed instrument and hydraulic simulation simultaneously to determine the operating angle and the response frequency of each joint on the work machine. Next, we simulated the positioning of the accumulator to increase the accuracy of the simulation model and to apply the PID controller and compensate the pressure. Finally, we verified the accuracy of the analytical model by comparing the simulation result with the real system test result. This evaluates the hydraulic characteristics of the 7DOF dual arm joint motion and the accuracy of the simulation model.","PeriodicalId":309525,"journal":{"name":"2019 23rd International Conference on Mechatronics Technology (ICMT)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"A Study on Hydraulic Simulation Analysis of a 7 DOF Dual Arm Machinery\",\"authors\":\"Seong-Woong Choi, Q. Le, Soon-yong Yang\",\"doi\":\"10.1109/ICMECT.2019.8932097\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, we have studied hydraulic system simulation of 7 DOFs dual-arm work machine for disaster response. The hydraulic simulation model is designed using SimulationX to verify the hydraulic power performance of dual arm's operation. Flow rate is analysis by joint velocity of the Work Machine. We also performed instrument and hydraulic simulation simultaneously to determine the operating angle and the response frequency of each joint on the work machine. Next, we simulated the positioning of the accumulator to increase the accuracy of the simulation model and to apply the PID controller and compensate the pressure. Finally, we verified the accuracy of the analytical model by comparing the simulation result with the real system test result. This evaluates the hydraulic characteristics of the 7DOF dual arm joint motion and the accuracy of the simulation model.\",\"PeriodicalId\":309525,\"journal\":{\"name\":\"2019 23rd International Conference on Mechatronics Technology (ICMT)\",\"volume\":\"15 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-10-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 23rd International Conference on Mechatronics Technology (ICMT)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICMECT.2019.8932097\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 23rd International Conference on Mechatronics Technology (ICMT)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICMECT.2019.8932097","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A Study on Hydraulic Simulation Analysis of a 7 DOF Dual Arm Machinery
In this paper, we have studied hydraulic system simulation of 7 DOFs dual-arm work machine for disaster response. The hydraulic simulation model is designed using SimulationX to verify the hydraulic power performance of dual arm's operation. Flow rate is analysis by joint velocity of the Work Machine. We also performed instrument and hydraulic simulation simultaneously to determine the operating angle and the response frequency of each joint on the work machine. Next, we simulated the positioning of the accumulator to increase the accuracy of the simulation model and to apply the PID controller and compensate the pressure. Finally, we verified the accuracy of the analytical model by comparing the simulation result with the real system test result. This evaluates the hydraulic characteristics of the 7DOF dual arm joint motion and the accuracy of the simulation model.
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