Lec2

1

IHA - 2700 Advanced Course in Modelling and Simulation of Fluid Power Systems15.11.2006

IHA - 2700 Advanced Course in Modelling and Simulation of Fluid Power SystemsSimmechanics® and Exercise Assignment

• Presentation of the assignment

• Brief tutorial on Simmechanics software

2


Simmechanics® and Exercise Assignment

Exercise assignment:Modelling and simulation of a 4-dof robot

manipulator

• Actuated in 3 rotational joints and 1 prismatic joint• 1 vane actuator + 3 hydraulic cylinders

Tasks to do: 1) Building the model:

• Build a dynamic model of the multi-body system manipulator, using Simmechanics

• Actuate the mechanical model by using your own Simulink models (hydraulic cylinders, proportional/servo valves, 20 MPa constant pressure source) + a provided Simulink vane actuator model.

• Test the model by running simulations within the Simulink environment.

3


Joint positions (mm) Cylinder #1 Cylinder #2 Cylinder #3

1 2 (560,940)O O = ( )max min/pist rod L Lφ φ −

63/32 ( 1350 – 1020) ( )max min/pist rod L Lφ φ −

50/28 ( 1190 – 810) ( )max min/pist rod L Lφ φ −

50/28 ( 1190 – 810)

2 3 (792,111)O O = 1 1 ( 47,73)AO C = − 2 2 ( 162,297)AO C = −

3 4 (876,40)O O = 2 1 ( 95,178)BO C = − 3 2 ( 138,147)BO C = −

Arm #1 Arm #2 Arm #3 Arm #4 (telescopic) m = 110 kg m = 46 kg m = 33 kg m = 26 kg

1 (134,442)O cm = 2 (198,135)O cm = 3 (290,55)O cm = length = 800 mm


Geometry, masses and actuator sizes

4


Signal to valves

Joint angles


High Level Simulink model layout:

5


Hydraulics block layout


6


Tasks to do: 2) Real-Time Simulation with xPC Target

- Add communication blocks ‘UDP receive’ and ‘UDP send’ to receive signals from the joystick and to send simulated joint angles to IHA-3D visualization software.

- Deploy the Simulink model to a dedicated xPC Target computer.- Run the simulation in the real-time xPC Target kernel.


7


Simmechanics


8


Simmechanics:

• A Matlab toolbox to model the dynamics of multi-body systems• Integrated on the Simulink block object-oriented simulation

environment• Simulation animations are possible with the use of the Virtual

Reality Toolbox


9


Example: Cart with a pendulum and a spring-damper


10


Simulink Model


11


Simmechanics Model


12



13



14



15



16



17


Calendar & info:

• Exercise returning/evaluation deadline 26.1.2007• IHA’s computer room will be booked every Wednesday from 8.00 – 10.00• During some Wednesdays, an assistant will be present at the room (8-10) for exercise

guidance, xPC Target, Joysticks and Visualization set-up. His presence will be announced beforehand in the course web page

• Web of the course: www.iha.tut.fi/education/IHA-2700/• Lectures (8.11 and 15.11) slides• Exercise material, instructions and updates

Further questions:

Salvador Esqué, huone 2427, [email protected]


Documents

Lec2