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1 !# $ %!& ’ (*),+ - .#/ 0!1 2#3 !4 5#6 7!&#/!8 9: ; #=! ? A@ B*)DC 3# AB#E F G!H I J*)DK!L !M!4 5#6 7 N!O#P Q!&#/!8# R S N TUP Q VAW!X Y#Z![#!\#]!+#P Q!B#E ?[#^!&#_)‘+#P Q a!b &#Z![#a!b ? !c d ef&#g h ij k Z![ &#P Q#lAm#iW!9n o p qrptsuF!v#w P QxB#E !y#N V!z {#| N!}#~ & # !4 5 # !5#T ! 9 t s ) ! #%! K!L#h! # 0!1 2#3!y#N P Q ) [#^# ! !B#E ! # $ V4 5 - .#/ , 0!1 2#3 N TUP Q y#N P Q ¡ ¢ £¥⁄§ƒt ¤ '“§ « ‹› ¢ £¥“ “ fi§fiflr x– “t †¡flr‡uƒ fi ·fiStudyontheMotionSimulationofHydraulicExcavator’sManipulatorHeQinghua,ZhangDaqing,HaoPeng,ZhangXinhai(Collegeofmechanical&electricalengineering,CentralSouthUniversity,HunanChangSha,410083,ChinaAbstract:CapabilityandcharacteristicofAMESimweredescribedconcisely;thehydraulicsystemandmechanismofexcavator’smanipulatorweremodeledinAMESim.Themainparametersofmodelareset,andthenthedynamicsimulationofhydraulicsystemandtheplanardynamicsimulationofmechanismwereachieved.Theexperimentsareappliedtoverifythemodel,andthesimulationresultswereanalyzedandcomparedwiththatofexperimentsindetail,motionofsimulationmodelwasshowninAMEViewer.Bycomparingwiththeexperiment,thesimulationerrorsforpressureofboom,stickandbucketwerelessthan10bar.Inaword,accuratemotionsimulationofexcavator’smanipulatorisaccomplished,andthesimulationmodelisprovedtobevalid.Keywords:hydraulicExcavator;AMESim;Manipulator;dynamicssimulation;motionsimulation2004-12-252005-09-26863(2003AA430200)1946-1977-2PACQqD=r2(1)qCAPDrqCqC)2tan(critqCllrhlPDkD=2(2)dtdPVdtdVPCPPCQeecic1111211)(×+=---b(3)dtdPVdtdVPCQPPCeecic2222221)(×+=---b(4)icCecCeCb1V2V345-505-327121722s-505-327121722s-505-327121722s[3]Sung-UkLeeandPyungHunChang.Controlofaheavydutyroboticexcavatorusingtimedelaycontrolwithswitchingactionwithintegralslidingsurface[A].Proceedingsofthe2001IEEEinternationalConferenceonRobotics&Automation[C]Seoul,Korea.May21-26,2001:3955-3960[4]DavidA.Bradley,DerekW.Seward.thedevelopment,controlautonomousroboticsexcavator[J].JournalofIntelligentandRoboticsystem.1998,21:73-97[5]ShahramTafazoli,PeterD.Lawrence,andS.E.Salcudean.Identificationofinertialandfrictionparametersforexcavatorarms.IEEEtransactionsonroboticsandautomation.1999,15(5):966-971[6].Simulink[J]..2003(10):59-63[7][J]..2003(10):49-53DavidGAGNE,FranckSELLIER,CédricROMANSimulationanddesignprocessofmechatronicssystems[J].RecentAdvancesinAerospaceActuationSystemsandComponents[4],June13-15,2001,Toulouse,FranceIMAGINE,AMESim,