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D. S. Ahn(안두성),I. Y. Lee(이일영),H. Y. Kim(김현호) 유공압건설기계학회 2015 유공압건설기계학회 학술대회논문집 Vol.2015 No.10
Hydraulic manipulators have been widely used in many different fields due to a high force/torque to inertia ratio. The speedup of hydraulic manipulators requires the solution of problems concerning various aspects, from the mechanical design to the necessity of determining a robot model suitable for control, and of experimentally testing the control performances. For one solution, integration of SolidWorks with Simscape for designing and controlling hydraulic manipulators is presented in this paper. The integration provides a flatform for rapid control prototyping of hydraulic robot without the need for building real prototypes. Mechanical drawings of a manipulator are first created using Solidworks and imported into the Simscape, where the manipulator is represented by connected block diagrams based on the principle of physical modeling. Simulation examples for 3D manipulator made by KNR SYSTEM INC. are testified to show effectiveness of the presented platform.