Development and Evaluation of Simulator for Field Robot

摘要

This paper presents the development of the hydraulic simulator for field robots. The simulation is based on a 1.5ton hydraulic excavator which is a kind of field robot. The field robot is operated by a main control valve which is controlled by EPPR(Electro Proportional Pressure Reducing) valve. In order to automate the field robot, angular sensors are installed at each joint. They measure angles of boom, arm and bucket. And hydraulic pressure sensors which are attached to both ends of the boom, arm and bucket cylinders measure pressure variations. These angles and pressure variations are used to evaluate the developed simulator. The simulator is developed for the hydraulic system using AMESim. It consists of boom, arm, bucket and MCV(main control valve).