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《Journal of Zhejiang University(Engineering Science)》 2007-11
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Modeling of AMESim based hydraulic parallel mechanism and simulation of its coupling characteristics

WANG Wei,FU Xin,XIE Hai-bo,YANG Hua-yong(State Key Laboratory of Fluid Power Transmission and Control,Zhejiang University,Hangzhou 310027,China)  
A novel universal simulation model of hydraulic six-degree of freedom parallel mechanism was presented,in which the hydraulic actuator servo system was built in the AMESim,and the parallel mechanism part was built in the Simulink.In the AMESim model,the equivalent load of hydraulic actuator is from the Simulink model instead of equivalent mass.The combined simulation model takes the details of hydraulic system into consideration to ensure the accuracy,and provides a convenient research technique for hydraulic parallel mechanism.The coupling characteristic of the parallel mechanism was studied through analyzing the dynamic consistency of six actuators using the simulation model.The results show that coupling phenomena appear when the frequency responses of the six actuators were different,and the coupling becomes stronger when the difference among the actuators increases.Thus the dynamic consistency of all actuators must be ensured during the design of parallel mechanism.
【Fund】: 国家“973”重点基础研究发展规划资助项目(2006CB705400);; 国家自然科学基金资助项目(50575200)
【CateGory Index】: TH112
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