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1 “ AB*DC3ABEF“GHIJ*DKLM4567NOPQ the hydraulic system and mechanism of excavator’s manipulator were modeled in AMESim. The main parameters of model are set, and then the dynamic simulation of hydraulic system and the planar dynamic simulation of mechanism were achieved. The experiments are applied to verify the model, and the simulation results were analyzed and compared with that of experiments in detail, motion of simulation model was shown in AMEViewer. By comparing with the experiment, the simulation errors for pressure of boom, stick and bucket were less than 10 bar. In a word, accurate motion simulation of excavator’s manipulator is accomplished, and the simulation model is proved to be valid. Key words hydraulic Excavator; AMESim; Manipulator; dynamics simulation; motion simulation 2004-12-25 2005-09-26 8632003AA430200 1946- 1977- 2 PACQ q ∆ ρ 2 1 q C AP∆ ρ q C q C 2 tan crit q C λ λ ρη λ PDk∆ 2 2 dt dPV dt dV PCPPCQ e ecic 111 1211 ⋅−−− β 3 dt dPV dt dV PCQPPC e ecic 222 2221 ⋅−−− β 4 ic C ec C e Cβ 1 V 2 V 3 4 5 -5 0 5 -327121722 s -5 0 5 -327121722 s -5 0 5 -327121722 s [3] Sung-Uk Lee and Pyung Hun Chang. Control of a heavy duty robotic excavator using time delay control with switching action with integral sliding surface [A]. Proceedings of the 2001 IEEE international Conference on Robotics Automation[C] Seoul, Korea. May 21-26, 2001 3955-3960 [4] David A. Bradley, Derek W. Seward. the development, control autonomous robotics excavator[J]. Journal of Intelligent and Robotic system.1998, 21 73-97 [5] Shahram Tafazoli, Peter D. Lawrence, and S. E. Salcudean. Identification of inertial and friction parameters for excavator arms. IEEE transactions on robotics and automation. 1999, 155 966-971 [6] . Simulink [J]. . 20031059-63 [7] [J]. . 20031049-53 David GAGNE, Franck SELLIER, Cdric ROMAN Simulation and design process of mechatronics systems [J]. Recent Advances in Aerospace Actuation Systems and Components[4], June 13-15, 2001, Toulouse, France IMAGINE, AMESim,
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