Modeling and Simulation of Flexible Hydraulic Robotic Arm

2012 ◽  
Vol 538-541 ◽  
pp. 773-776 ◽  
Author(s):  
Li Dai ◽  
Da Lu Xu ◽  
Yu Liu ◽  
Jian Wang
Keyword(s):  
Coupled Model ◽  
Position Angle ◽  
Hydraulic Cylinder ◽  
Simulation Software ◽  
Robotic Arm ◽  
Body Dynamics ◽  
Hydraulic Cylinders ◽  
Concrete Pump Truck ◽  
Concrete Pump ◽  
Multi Body

The flexible robotic arm drived by hydraulic are widely applied in most kinds of large engineering equipments, such as concrete pump truck, bridge monitor truck,etc. Nevertheless, the flexible distortion always break the precision of end-position and cause liberation of the whole arm system. In this paper, the movement of flexible hydraulic robotic arm and hydraulic cylinders are separately analyzed with flexible multi-body dynamics. And the dynamic differential equation is built with the driving force of the hydraulic cylinder as the main force. The equation is based on the theory of flexible multi-body dynamics, building the coupled model of robotic arm system and hydraulic-driving system to study the relation between the end-position, angle and the hydraulic system. What’s more, the simulation model of the mechanical arms is built by the dynamic simulation software. The project will theorectically support the intelligent control or auxiliary control of large engineering equipments.

The Dynamic Analysis of Concrete Pump Truck Arm in Civil Engineering

2012 ◽  
Vol 568 ◽  
pp. 138-141
Author(s):  
Li Dai ◽  
Yun Gong Li ◽  
Yu Liu ◽  
Jian Wang
Keyword(s):  
Kinetic Equation ◽  
Dynamic Equation ◽  
Civil Engineering ◽  
Dynamic Theory ◽  
Hydraulic Cylinder ◽  
Body Dynamics ◽  
Concrete Pump Truck ◽  
Concrete Pump ◽  
Multi Body ◽  
Body Dynamic

The concrete pump truck integrates transportation with pouring process ，which is characterized with flexibility, facility and celerity in civil engineering. As for the concrete pump truck, the arm system is the most important because the rationality of the arm directly influences the performance and pouring position of the truck in its application in civil engineering. For the arm system of the concrete pump truck, the movement of the arm system and the hydraulic cylinder are analyzed respectively with multi-body dynamic theory. By using numerical arithmetic to resolve the dynamic equation, the terminal track of the arms is analyzed. It shows that the kinetic equation built by multi-body dynamics can describe the dynamic characteristics of pump truck exactly.

scholarly journals Modeling and Control of Flexible Hydraulic Robotic Arm

2011 ◽  
Vol 2-3 ◽  
pp. 334-339 ◽  
Author(s):  
Li Dai ◽  
Yao Wu ◽  
Jian Wang ◽  
Yun Gong Li ◽  
Yu Liu
Keyword(s):  
Hydraulic System ◽  
Virtual Work ◽  
Lagrange Equation ◽  
Hydraulic Cylinder ◽  
Simulation Software ◽  
Robotic Arm ◽  
Converse Problem ◽  
Loop Control ◽  
Multi Body ◽  
Close Loop Control

Flexible hydraulic robotic arm is a complicated system which coupled by mechanics and hydraulics. It is widely applied in all kinds of large engineering equipments, such as concrete pump truck, bridge monitor truck, arm frame of crane, etc. The arm system of the hydraulic robotic arm is a multi-body system with redundant freedom, strong nonlinear, coupled with rigid and flexible characters. So it is of great theoretic value and real engineering significance to study the arm system of the robotic arm. In this theme, the movement of flexible hydraulic robotic arm and hydraulic cylinders are seperately analyzed with flexible multi-body dynamics, and the mechanical hydraulic dynamic model of the driving system and the arm system is built with Lagrange Equation and Virtual Work Theory. And the dynamic differential equation is built with the driving force of the hydraulic cylinder as the main force. With the track programming and the optimization method, the dynamic converse problem of the arm end track is researched, so as to get the optimized rotation angle when the arm end reaches the expected point. By using the PD control theory, without decoupling and rank-decreasing, only with feed back from the hydraulic system to realize the close loop control of the arm end position, pose and movement, the relationship between the hydraulic system and the end position & pose is studied, so that the flexible distortion is reduced and the libration is restrained. What’s more, the simulation model of the mechanical arms is built by the dynamic simulation software. The simulation result prove that the movement equation built by this way can clearly describe each dynamic character of the mechanical arms.

Multi-Body Dynamic PD Control of Concrete Pump Truck Arm System

2009 ◽  
Vol 16-19 ◽  
pp. 806-810 ◽  
Author(s):  
Li Dai ◽  
Jian Wang ◽  
Bo Zhao ◽  
Jie Liu
Keyword(s):  
Control Theory ◽  
Numerical Solution ◽  
Dynamic Equation ◽  
Dynamic Theory ◽  
Hydraulic Cylinder ◽  
Pd Control ◽  
Concrete Pump Truck ◽  
Concrete Pump ◽  
Multi Body ◽  
Body Dynamic

For the concrete pump truck, the movements of the arm and the hydraulic cylinder are analyzed respectively with multi-body dynamic theory. And with the applying of PD control theory, the dynamic equation of arm system is also built. And according to the numerical solution of the equation, it is proved that the dynamic equation can describe every dynamic character of the concrete pump truck well.

Research of Amplification Frame Optimization Based on Optistruct

2012 ◽  
Vol 510 ◽  
pp. 541-544
Author(s):  
Bing Zhong
Keyword(s):  
Stress Distribution ◽  
Structural Optimization ◽  
Working Conditions ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Body Dynamics ◽  
Utilization Ratio ◽  
Simulation Results ◽  
The Cost ◽  
Multi Body

The motion of amplification frame of dumper was simulated by multi-body dynamics simulation software ADAMS, and the danger working conditions of amplification frame were calculated. The stress of amplification frame was simulated and analyzed by Optistruct software. The results show that the stress distribution in amplification frame is not uniform and it is big in the middle and small in the edge zeros. The structure of amplification is optimized according to the simulation results. The utilization ratio of the material increases and the cost of production decreases after structural optimization.

Pouring Point Location Method for Concrete Pump Truck

2014 ◽  
Vol 635-637 ◽  
pp. 1256-1259
Author(s):  
Qin Xing ◽  
Li Yin Zhang ◽  
Yong Wei Sun ◽  
Tao Sun ◽  
Xue Hua Yu
Keyword(s):  
Data Processing ◽  
Processing Unit ◽  
Point Location ◽  
Data Processing Unit ◽  
Displacement Sensors ◽  
Hydraulic Cylinders ◽  
Concrete Pump Truck ◽  
Concrete Pump ◽  
The Relationship ◽  
Contraction And Expansion

A method is presented for determining the pouring point location of concrete pump truck. The method does not change the structure of the concrete pump truck, only need to replace the hydraulic cylinders of booms with the hydraulic cylinders with displacement senor, and the displacement sensors are mounted in the inside of the hydraulic cylinders and do not need any extra protection. The relationship formulas between the contraction and expansion amounts of the hydraulic cylinders and the pouring point location are derived and programmed to input into a data processing unit. The contraction and expansion amounts of the hydraulic cylinders are timely acquired and inputted into the data processing unit, then the pouring point location can be displayed in real-time on the screen of radio controller, and the workers can quickly and accurately locate the pouring point of the concrete pump truck to poured point.

Locomotive Underactuated Implement Guided via Elastic Elements (L.U.I.G.E.E): A Preliminary Design

2015 ◽  
Author(s):  
Thomas Reilly ◽  
Jerome K. O’Rourke ◽  
Daniel Steudler ◽  
Davide Piovesan ◽  
Roberto Bortoletto
Keyword(s):  
Human Body ◽  
Equilibrium Position ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Original Position ◽  
Preliminary Design ◽  
Top Down ◽  
Body Dynamics ◽  
Multi Body ◽  
Elastic Elements

This paper presents the simulation and fabrication of a bipedal humanoid system actuated with linear springs to produce a standing equilibrium position. The humanoid system is comprised of two leg assemblies connected by a hip bracket. Eleven pairs of springs were attached to the system in locations designed to simulate the muscles and tendons in a human body. The assembly was modeled in the multi-body dynamics simulation software SimWise 4D. Simulations were performed to determine the springs’ stiffness and natural lengths using a top-down heuristic approach. After a set of springs were found to produce a good simulated stable position, they were cross referenced to standard commercially-available parts. A final simulation was then performed to verify that the real-world spring values produced a stable system. Working in tandem with SimWise 4D, the humanoid assembly was fabricated using PLA plastic via an extrusion-type rapid prototyping machine. From the results of the simulation, the set of working springs were implemented onto the plastic model. After final modifications, the assembly then produced a standing equilibrium position. Finally, the assembly was perturbed in several directions to ensure that after the system experienced a displacement it would then return to its original position.

Computer Simulation of the Coupled Analysis of Piston Secondary Motion and EHD Lubrication Based on Flexible Multi-Body Dynamics

2014 ◽  
Vol 494-495 ◽  
pp. 729-732
Author(s):  
Zhen Yu Yang ◽  
Wei Zheng Zhang
Keyword(s):  
Computer Simulation ◽  
Smooth Surface ◽  
Coupled Model ◽  
High Load ◽  
Coupled Analysis ◽  
Asperity Contact ◽  
Ehd Lubrication ◽  
Body Dynamics ◽  
Secondary Motion ◽  
Multi Body

A coupled model of piston secondary motion and mixed hydrodynamic lubricated was established based on flexible multi-Body dynamics. The model included elastic deformation and roughness of the two surfaces. The effects of rough surface compared to absolutely smooth surface on piston secondary motion mixed lubrication are discussed. The results show that roughness of the surface can make the fluid a better way to lubricate the surface and decrease the secondary motion, but in the high load asperity contact will occur.

Simulation Analysis of an Ambulance Carriage Interior Noise

2014 ◽  
Vol 535 ◽  
pp. 581-585
Author(s):  
Shi Ke Hou ◽  
Song Bai ◽  
Hao Jun Fan ◽  
Hui Ding ◽  
Yong Zhong Zhang ◽  
...  
Keyword(s):  
Finite Element ◽  
Boundary Element ◽  
Simulation Analysis ◽  
Coupled Model ◽  
Element Model ◽  
Simulation Software ◽  
Vehicle Body ◽  
Field Point ◽  
Acoustic Contribution ◽  
Multi Body

Based on the theory of multi-body system dynamics, the analytical method of finite element and boundary element, the finite element model of vehicle body, the rigid-flexible coupled model of vehicle and the acoustic boundary element model of carriage were established by applying a variety of simulation software. Road roughness was simulated and the SPL of field point in carriage under the excitation was computed at the frequency range of 20-150Hz. Considering the size and the positive /negative nature of panels acoustic contribution at SPL peak of field point, damping treatments were taken on different combinations of panels to decrease multiple field points SPL peak and the optimal treatment was finally confirmed. The results showed that noise reduction measures can generally decrease the SPL peak around the crew.

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