Integrated mechanical and electro-hydraulic system modeling and virtual reality simulation technology of a virtual robotic excavator

摘要

A method of integrated mechanical and electro-hydraulic system modeling and virtual reality simulating within different environments are studied in this paper, taking the developing of a virtual robotic excavator prototype based on this method as an example. The virtual prototype environment is built within ADAMS and the parameterized and modularized hydraulic and control system models are built in MATLAB with the help of the toolbox Simulink. The interface method between the two types of software and the collaborative modeling of the mechanical, hydraulic and control systems; the interface between the force feedback hand lever and the hydraulic system model are studied and developed to realize integrated mechanical and electro-hydraulic system virtual reality simulation.