CN102222137B - Fire-fighting robot arm double-coupling simulation method - Google Patents
Fire-fighting robot arm double-coupling simulation method Download PDFInfo
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- CN102222137B CN102222137B CN201110141360XA CN201110141360A CN102222137B CN 102222137 B CN102222137 B CN 102222137B CN 201110141360X A CN201110141360X A CN 201110141360XA CN 201110141360 A CN201110141360 A CN 201110141360A CN 102222137 B CN102222137 B CN 102222137B
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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 of the robot arm.
Description
Technical field
The present invention relates to the mechanical-hydraulic system simulation method, particularly about a kind of two Coupled Dynamic emulation modes of fire-fighting robot arm.
Background technology
Fire-fighting robot still belongs to new things in China, its every research is less, simulation analysis optimization for its equipment is also few, most researchs both at home and abroad have the following disadvantages: more to Modal Analysis, Kinematics Simulation, static analysis, the simulation study of carrying out the dynamics aspect in conjunction with finite element is less; The simulation study of robot arm kinematics and dynamics is normally carried out under the hypothesis of pure rigid motion and desirable load, ignores the distortion of compliant member, can make result and reality go mutually far away; Usually ignore the interaction of mechanical system and hydraulic system, the drive source that applies is generally the STEP function that acts directly on the telescopic hydraulic cylinder moving sets or on the rotation motor revolute pair, can not obtain in real time the correlation parameter of mechanism under mechanical system and hydraulic system acting in conjunction.CAD/CAE associative simulation technology is applied in the research of robot arm, two Coupled Dynamic Finite Element Simulation Analysis methods that various software combines are explored, provide certain guidance and reference to drafting of similar work structuring emulation mode.
Summary of the invention
Purpose of the present invention is exactly to overcome that original loop element is many, complex structure, be not suitable for the above-mentioned shortcoming of Direct Modeling emulation, a kind of hydraulic circuit system of fire-fighting robot arm is provided, obtain the model of hydraulic circuit and mechanical system interaction, be convenient to simulation analysis.
A kind of fire-fighting robot arm double-coupling simulation method, described fire-fighting robot arm comprise pedestal, big arm cylinder group, long connecting rod, short connecting rod, triangular coupling rod, forearm, paw oil cylinder group, left-hand seat, assistant, motor sub-assembly, oil cylinder of small arm group, large arm,
Two coupling simulation methods comprise Hydraulic Circuit Design, the modeling of Pro/e rigid body, ANSYS flexible object modeling, kinematics and dynamics simulation, hydraulic-mechanical coupling emulation, Rigid-Flexible Coupling Simulation, two coupling analysis,
Described Hydraulic Circuit Design is the Hydraulic Circuit Design of big arm cylinder group, paw oil cylinder group, oil cylinder of small arm group,
The modeling of described Pro/e rigid body obtains the Pro/e rigid model of big arm cylinder group, long connecting rod, short connecting rod, triangular coupling rod, forearm, paw oil cylinder group, left-hand seat, assistant, motor sub-assembly, oil cylinder of small arm group, large arm, also comprise the assembly manipulation to above-mentioned rigid model that obtains the rigid body assembly
Described ANSYS flexible object modeling obtains the ANSYS elastomeric model of large arm, the ANSYS elastomeric model of forearm,
Described kinematics and dynamics simulation is to the Kinematics Simulation of rigid body assembly, dynamics simulation,
Described hydraulic-mechanical coupling emulation is the associative simulation of the resulting hydraulic circuit of Hydraulic Circuit Design and rigid body assembly,
Described Rigid-Flexible Coupling Simulation is that the ANSYS elastomeric model of large arm, the ANSYS elastomeric model of forearm are replaced respectively the large arm in the rigid body assembly, the rigid model of forearm, thereby obtains Rigid-flexible Coupling Model, carries out Rigid-Flexible Coupling Simulation,
Described pair of coupling analysis is the associative simulation of hydraulic-mechanical coupling emulation and Rigid-Flexible Coupling Simulation.
Described Kinematics Simulation obtains extreme position parameter and form.Described dynamic analysis obtains hydraulic cylinder force, pin joint is stressed.Mechanical vibration situation when described Rigid-Flexible Coupling Simulation obtains change working.Described hydraulic-mechanical coupling emulation obtains the Vibration Condition of oil cylinder, each pin joint.Described pair of coupling analysis obtains stress, the strain of weak element in motion process.
Described Hydraulic Circuit Design is based on the ADAMS/Hydraulics hydraulic module in the ADAMS simulation software; The modeling of described Pro/e rigid body is based on grass in Pro/e software and paints in environment skeletonizing and utilize basic characteristic to draw part, obtains the Pro/E three-dimensional plot of critical part, and the luggage of going forward side by side is joined the process of operation.Described kinematics and dynamics simulation is fire-fighting robot rigid motion Epidemiological Analysis, the rigid body inverse dynamics analysis that carries out after constraint and driving, verification model, interpolation driving function adding; Described hydraulic-mechanical coupling emulation is to utilize Pro/e, ANSYS modeling technique and ADAMS Hydraulic Simulation Software, sets up the hydraulic system dummy model, and to the dynamic and static specificity analysis of hydraulic system.Described Rigid-Flexible Coupling Simulation is for the Rigid-flexible Coupling Model of setting up, and carries out simulation analysis, and obtains the simulation process of Finite Dynamic Element result.The described pair of coupling analysis is for typical condition, based on the associative simulation of Coupled Rigid-flexible and hydraulic-mechanical coupling.
The relative prior art advantage of the present invention:
1, the method is mainly used in dynamic simulation and the test of fire-fighting robot arm, be convenient to hold on the whole the Changing Pattern of stress, strain and hydraulic system parameters, be convenient to the mechanical-hydraulic emulation of mechanical arm, save simulation time, improve simulation efficiency, shorten the design cycle of robot arm.
2, the present invention is not single carries out model analysis, Kinematics Simulation, static analysis to complete machine, and carries out the simulation study of dynamics aspect in conjunction with finite element, more tallies with the actual situation, and is convenient to whole assurance.
3, simulation study of the present invention is not singly to carry out under the hypothesis of pure rigid motion and desirable load, considers the distortion of compliant member, and result and reality are pressed close to more.
4, the present invention considers the interaction of mechanical system and hydraulic system, the drive source that applies is not the STEP function that acts directly on the telescopic hydraulic cylinder moving sets or on the rotation motor revolute pair, but act on Hydraulic Elements, further control again mechanical system, can obtain in real time the correlation parameter of mechanism under mechanical system and hydraulic system acting in conjunction.
5, the present invention payes attention to the basic role of Analysis for kinematics, provides necessary data, combination with follow-up two coupling Simulation when checking the necessary maximal work of mechanical arm position.
6, partly obtain extreme position parameter and form at Kinematics Simulation, enlarged the scope of work of this mechanism after improving according to result.
7, the hydraulic cylinder force that partly obtains in dynamic analysis, pin joint be stressed is the primary election of hydraulic-mechanical coupling parameter and the Rigid-Flexible Coupling Simulation data that provide the foundation.
8, machinery serious vibration when Rigid-Flexible Coupling Simulation is partly learnt change working is taked to extend the change working time, is reduced the method for operating such as complex conditions according to result, has reduced the vibration that interacts and produce because of inertial force and driving force.
9, partly learn the vibration of oil cylinder and each pin joint obviously in hydraulic-mechanical coupling emulation, increase the damping elements such as rubber sheet gasket and lining, reliability and the serviceable life of having improved part according to result at the pin joint place.
10, learn motion process in two coupling analysis in stress, the strained situation of weak element, after whole assurance, large arm, forearm have been carried out lightweight research, make equipment loss of weight 10% left and right.
Description of drawings
Fig. 1 is the mechanical arm structural drawing;
Fig. 2 is the schematic flow sheet of fire-fighting robot arm double-coupling simulation method of the present invention.
Embodiment
The 1-pedestal; 2-big arm cylinder group; The 3-long connecting rod; The 4-short connecting rod; The 5-triangular coupling rod; The 6-forearm; 7-paw oil cylinder group; The 8-left-hand seat; 9-sets about; The 10-groups of motors; 11-oil cylinder of small arm group; The large arm of 12-.
as shown in Figure 1, fire-fighting robot arm double-coupling simulation method of the present invention, comprise Hydraulic Circuit Design, the modeling of Pro/e rigid body, the ANSYS flexible object modeling, kinematics and dynamics simulation, hydraulic-mechanical coupling emulation, Rigid-Flexible Coupling Simulation, two coupling analysis, described Hydraulic Circuit Design is the Hydraulic Circuit Design of three groups of hydraulic cylinders of mechanical arm, comprise the drafting of hydraulic circuit diagram, the setting of Hydraulic Elements, described rigid model is the modeling of whole rigid body parts, assembling, it is imported in virtual prototype software ADAMS and can form Rigid-flexible Coupling Model with elastomeric model, it is imported in virtual prototype software ADAMS and can form the hydraulic-mechanical coupling model with the hydraulic system model, described ANSYS flexible body is large arm flexible body and forearm flexible body, it is imported in virtual prototype software ADAMS and can form Rigid-flexible Coupling Model with rigid model, described kinematics and dynamics simulation is that the rigid body assembly is adding constraint, emulation after driving and verifying, described hydraulic-mechanical coupling emulation is the emulation of hydraulic system and rigid body assembly, described Rigid-Flexible Coupling Simulation is large arm flexible body, the emulation of forearm flexible body and other rigid body part, described two coupling is the combination of hydraulic-mechanical coupling and Coupled Rigid-flexible, described method is beneficial to hydraulic circuit optimization, the complete machine lightweight, operation scheme improves.
A kind of fire-fighting robot arm double-coupling simulation method provided by the invention, Rigid-flexible Coupling Model in described emulation mode connects by equivalent BEAM beam element, the arachnoid beam element bundle that the BEAM4 unit forms can transmit force and moment, obtain stressed result accurately, improve the precision of follow-up intensive analysis.
Claims (1)
1. fire-fighting robot arm double-coupling simulation method, described fire-fighting robot arm comprises pedestal, big arm cylinder group, long connecting rod, short connecting rod, triangular coupling rod, forearm, paw oil cylinder group, left-hand seat, assistant, motor sub-assembly, oil cylinder of small arm group, large arm
It is characterized in that: two coupling simulation methods comprise Hydraulic Circuit Design, the modeling of Pro/e rigid body, ANSYS flexible object modeling, kinematics and dynamics simulation, hydraulic-mechanical coupling emulation, Rigid-Flexible Coupling Simulation, two coupling analysis,
Described Hydraulic Circuit Design is the Hydraulic Circuit Design of big arm cylinder group, paw oil cylinder group, oil cylinder of small arm group, and described Hydraulic Circuit Design is based on the ADAMS/Hydraulics hydraulic module in the ADAMS simulation software,
the modeling of described Pro/e rigid body obtains the big arm cylinder group, long connecting rod, short connecting rod, triangular coupling rod, forearm, paw oil cylinder group, left-hand seat, set about, motor sub-assembly, oil cylinder of small arm group, the Pro/e rigid model of large arm, also comprise the assembly manipulation to above-mentioned rigid model that obtains the rigid body assembly, the modeling of described Pro/e rigid body is based on grass in Pro/e software and paints in environment skeletonizing and utilize basic characteristic to draw part, obtain the Pro/E three-dimensional plot of critical part, the luggage of going forward side by side is joined the process of operation
Described ANSYS flexible object modeling obtains the ANSYS elastomeric model of large arm, the ANSYS elastomeric model of forearm,
described kinematics and dynamics simulation is the Kinematics Simulation to the rigid body assembly, dynamics simulation, described Kinematics Simulation obtains extreme position parameter and form, described dynamic analysis obtains hydraulic cylinder force, pin joint is stressed, and described kinematics and dynamics simulation is adding constraint and driving, verification model, add the fire-fighting robot rigid motion Epidemiological Analysis that carries out after driving function, the rigid body inverse dynamics analysis, the drive source that applies is not the STEP function that acts directly on the telescopic hydraulic cylinder moving sets or on the rotation motor revolute pair, but act on Hydraulic Elements, further control again mechanical system, correlation parameter with mechanism under real-time acquisition mechanical system and hydraulic system acting in conjunction,
Described hydraulic-mechanical coupling emulation is the associative simulation of the resulting hydraulic circuit of Hydraulic Circuit Design and rigid body assembly, described hydraulic-mechanical coupling emulation obtains the Vibration Condition of oil cylinder, each pin joint, and described hydraulic-mechanical coupling emulation utilizes Pro/e, ANSYS modeling technique and ADAMS Hydraulic Simulation Software, set up the hydraulic system dummy model, and to the dynamic and static specificity analysis of hydraulic system
Described Rigid-Flexible Coupling Simulation is that the ANSYS elastomeric model of large arm, the ANSYS elastomeric model of forearm are replaced respectively the large arm in the rigid body assembly, the rigid model of forearm, thereby obtain Rigid-flexible Coupling Model, carry out Rigid-Flexible Coupling Simulation, mechanical vibration situation when described Rigid-Flexible Coupling Simulation obtains change working, and described Rigid-Flexible Coupling Simulation is for the Rigid-flexible Coupling Model of setting up, carry out simulation analysis, and obtain the simulation process of Finite Dynamic Element result
Described pair of coupling analysis is the associative simulation of hydraulic-mechanical coupling emulation and Rigid-Flexible Coupling Simulation, described pair of coupling analysis obtains stress, the strain of weak element in motion process, and the described pair of coupling analysis is for typical condition, based on the associative simulation of Coupled Rigid-flexible and hydraulic-mechanical coupling.
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102424075B (en) * | 2011-11-22 | 2013-01-23 | 北京邮电大学 | Rigid flexible coupled wirewalking robot based on balance beam |
| CN102855363A (en) * | 2012-09-26 | 2013-01-02 | 中国人民解放军装甲兵工程学院 | Method for simulating and calculating dynamic stress of a vehicle body structure of high-speed tracked vehicle |
| CN104867381B (en) * | 2014-12-23 | 2018-08-28 | 北京功顺达仿生机械有限公司 | Dynamic deformation geometry mechanism |
| CN105005671A (en) * | 2015-07-30 | 2015-10-28 | 中航沈飞民用飞机有限责任公司 | Dynamics simulation analysis method of uniformly distributed load bearing system |
| CN106625684B (en) * | 2017-03-06 | 2023-03-17 | 安徽工程大学 | System and method for analyzing and controlling coupling dynamic characteristics of robot |
| CN108393928B (en) * | 2018-01-26 | 2020-06-30 | 南京理工大学 | Multi-rigid-finite-element hybrid analysis method for contact collision of mechanical arm of flexible robot |
| CN110414087B (en) * | 2019-07-10 | 2023-01-24 | 北京华安中泰检测技术有限公司 | Electronic product service life evaluation method under multi-stress coupling effect |
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