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钢瓶 机械手 设计

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钢瓶喷丸机械手设计,钢瓶,机械手,设计

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毕业设计（论文）中期检查表学院： 机械工程学院 专业：机械工程及自动化设计（论文）题目：钢瓶喷丸机械手学号：20100421279姓名：欧博杰指导教师：时圣勇职称：副教授计划完成时间： 2014年5月26日设计（论文）的进度计划：1.寒假期间：参考文献查阅（综述）、外文资料翻译。2.2014.2.24-2014.3.31：毕业实习，资料收集。3.2014.4.01-2014.4.30：方案论证，绘制装配图。4.2014.5.01-2014.5.16：绘制零件图。5.2014.5.17-2014.6.04：整理设计说明书。已经完成的内容： 毕业设计资料的收集，方案的确定，外文资料的翻译，装配图，部件图，零件图的绘制，设计说明书的书写。指导教师意见：指导教师签字： 2014年5月5日备注：济南大学毕业设计外文资料翻译毕业设计外文资料翻译题 目 基于六自由度Stewart平台并利用Pro/E 进行机械手的建模和仿真 学 院 机械工程学院 专 业 机械工程及自动化 班 级 机自1014 学 生 欧博杰 学 号 20100421279 指导教师 时圣勇 二一 四 年 三 月 十一 日- 1 -济南大学毕业设计外文资料翻译Modeling and Movement Simulation of a Manipulator of 6DOF based on Stewart Platform with Pro/EByZhuxin Zhang and Tiehua ChenDingxuan ZhaoChangchun institute of technology JilinJilin UniversityJilin, ChinaMar 7, 2007AbstractA force feed back manipulator is a key device for a master-slave remote manipulation system. This paper introduces the basic principle of the manipulator with force feedback, designs the main structure of the manipulator, and introduces the modeling and simulation correlation functions of the software of Pro/E. The paper uses the software of Pro/E to model and simulate the force feedback manipulator. By modeling and simulating the movement intervene of the manipulator can be detected, the intervene position can be found beforehand. The movement space can be analyzed, so the realization possibility of design target can be judged. By modeling and simulation, the design efficiency can be improved, the cost of design and manufacture the prototype machine can be reduced.Keywords: modeling; movement simulation; manipulatorModeling and Movement Simulation of a Manipulator of 6DOF Based on Stewart Platform with Pro/E1 IntroductionManipulator is an important human-machine interface1, it is the inter-medium for human apperceiving the work environment and controlling the work of the remote worksite robot. The manipulator has two main functions. Firstly, it reproduces the interaction of the robot and the object in the environment for the operator in real time, provides the force tele-presence for the operator as if he were in the environment, it will be helpful for the operator to make decisions. Secondly, the manipulator detects the information of the operators position and gesture well and truly, transfers them to the controller of the slave robot in real time, makes the slave robot reproduce the correspond action, provides means for the human to control the robot directly. Because the manipulator has so many important functions, it is very meaningful to develop the six-DOF manipulator with force tele-presence. Six-DOF Stewart platform2 is the important representation of parallel link type mechanism, its workspace is small, construction is simple, precise is higher, rigid is strongly3,4, its dynamical characteristic is good and it can be controlled easy. The structure of the manipulator in the paper is based on the 6-DOF Stewart platform.2 Design of the manipulator structureThe experimental systems of the 6-DOF teleoperation robot designed includes: the master manipulator and its control system, the slave manipulator and its control system. This paper does not analyze the design theory of them, only introduces the main structures of the manipulator.The master and slave manipulators designed have the same constructions, the main structure is composed with the main body platform, the electro-hydraulic servo driving system, the detecting and controlling systems.The main body of the manipulator designed is based on the Stewart platform, it is shown in Fig. 1. The components of it include: theupper platform, the bottom platform, six parallel link type reciprocation piston rods and the connect gemels,etc.Fig.1 Manipulator based on Stewart platformThe upper platform is moveable, the bottom platform is the base one. The two platforms are connected with six single piston rod hydraulic cylinders and twelve universal joints at the two ends of the cylinders. At the upper platform side, there are S shape pull and press force sensors used to sense the force feedback, and through which the hydraulic cylinders are connected to the upper platform. The displacement sensors are fixed between the hydraulic cylinders and the rods to detect the displacements of the cylinders. The manipulation handle is bolted to the centre of upper platform.Electro-hydraulic servo driven is applied to this system for its heavy density of driven power and quick response, stable and reliable work performance. So it can realize accurate displacement control. Because of the limited work space, the structure of the movement system and the requirement of economy, the symmetrical valve controls asymmetrical cylinder method is adopted in the system. The asymmetrical cylinder has a single rod in one end. Its advantages are small room occupation, simple structure, low cost of manufacture and powerful output. The manipulator is a mechatronics equipment, so it needs to meet the common principle, such as structure compact, transmission agility and credibility, enough rigidity and intension, etc. The manipulator should have it own specialty characteristic too. The manipulator should make the operator obtain the force and haptic tele-presence in the virtual environment, so it should be decoupled in plane or rotation motion on kinematics and cybernetics, in order to meet these requires, the manipulator should have the properties of isotropy and no singularity in structure5, etc.In order to imitate the human muscle and exhibit the integrative of machine and measure6, force sensors were fixed on the end of the hydraulic cylinder rods, using six one-dimension pull-press sensors to measure the six- dimensions force. The pull-press sensor is an S type. The displacement sensor chosen is magnetostrictive type one. It can measure out the position accurately by the time intervals between the originating pulses and the terminating pulses. It has many strong points, such as better precision, lower cost, longer life and convenient installed and so on. So it is the better displacement measurement element for 6-DOF movement platform7.It is proposed in the paper7, that rolling friction should be adopted to instead of sliding friction, and not adopted the spherical joint and liner joint. Here, universal joints were chosen as gemel elements.In order to keep on the work of modeling and movement simulation, here we explain the meaning of work space of the 6-DOF manipulator. Work space is an important target of the Stewart platform mechanism work characteristic8. The work space is the scope of the moveable end of the movement platform, or the 6-DOFs scope of the movement platform centre. And that the non-intervene space is the work space where the connecting-links should not collide during the process of the mechanism moving.The manipulator has to ensure the 6 connecting-links have non-intervene when the pistons moving in any time between the length ranges designed. Once the intervene happens, the egmel will be damaged, the result is that the whole mechanism cannot work well.3 Modeling & simulation of the manipulator3.1 Software selection for modeling and movement simulationThe technologies of 3-D modeling and virtual manufacture provide a wonderful platform for the concept design and product innovate. The designer can start with 3-D concept and conceive, designs the product virtually, shapes the initial frame firstly, then analyses and estimates the possibility, quality and reliability of the future production, the designer can use the software to do the technologies of engineering analysis, numeral simulation, virtual reality, and so on. Especially, this kind of design method can concentrate the wisdom of the designer on the innovation. In the paper, the software of Pro/Engineer is used to model and simulate the manipulator. The software of Pro/Engineer is a famous 3-D CAD/CAM software, it has been applied in many fields such as: mechanism, electron, industry sculpt, spaceflight, home electro-instruments and model making. It can be used in designing component parts, assembling products, NC machining, mechanism simulation, CAE, PDM and so on.The concepts of the single database, parameter property, character based and whole relation put forward by PTC Co. have changed the mechanism tradition notion of ACD/CAE/CAM. The third generation mechanism CAD/CAE/CAM software of Pro/Engineer can integrate the design and produce process of the product, it permits that all user design and manufacture the same single product synchronously. The concise user interface and clearly conception of Pro/Engineer make the software fit to ideology and custom of the engineering technology personals. The whole systems are setup with a uniform database, the model is integrity and uniform.The Pro/E9 supplies some facilities with them grasping the whole thoughts, parameter correlation of component design, intelligentized tools of changing the design project in the series of function model blocks provided by Pro/E. All these tools make the designer grasp the whole thoughts, control the whole design course effectively. All the functions provide great degree of freedom for the portrait and cross direction design.3.2 Main body modelingMechanism design is integrated with the model, so we need to draw the components model firstly. Pro/E is a very effective 3-D design software, it is very convenience to model with the software. Here we only introduce the models, shown in Fig. 2. Fig. 2 Main components of the manipulator based on Stewart platformWhen the component models were constructed, firstly, we assembly the components according to the movement characteristic, that is, grouping the components in term of the moving relation, like that, assembling hydraulic cylinder body and the displacement together; assembling the force sensor with the rod of the displacement and the rod of hydraulic cylinder; the universal joints and the locknut, and so on. Fig. 3 Component groups of the manipulator based on Stewart platformThe next step is to assemble the whole components. The bottom platform is selected as default main body, then assembly the universal joint, the pin shaft restriction, the middle block and the other universal joint; then the hydraulic cylinder body, there is the pin shaft restriction too. And the finally assembly effect figure is the Fig. 4. Fig. 4 The assemble process of the manipulator based on Stewart platformWhen the manipulator has been assembled, dynamic sources can be assembled to the hydraulic cylinder, these can make the mechanism move according to the designed project, and analyze the results of the movement. In the process, load or simulation gravity can be added to the manipulator, this will avoid the designer to do complicated calculation during the design process. It can generate figures or tables for the designer to do analyze conveniently by selecting the points or axes of the model.The software PRO/E has the characteristic that it can switch to the mechanism module from the modeling module directly. And when switch to the mechanism module, all the kinematics pairs will be shown with symbols on the kinematics pairs of the mechanism. See the Fig. 5.The movement constriction of the manipulator are: the piston stroke of the hydraulic cylinder is 50mm, the rotation taper of the upper and the bottom universal joints are in definite range(eg.45 degrees). In order to made the most of the taper, the two universal joints, hydraulic cylinder piston rod and the force sensor are deigned align in one centerline.Fig. 5 The kinematics pairs shown with symbols on them3.3 Movement simulationBy simulating the movement, one can observe the workspace of manipulator, research the end of the movement actuator movement workspace, or the 6-DOF ranges of the upper plane centre, survey the movement interference, and so on.3.3.1 Simulating with the rule movementThat is simulating according to the prearranged movement rule. Add servo motor to the hydraulic cylinder rod, select the cosine pattern, and ensure displacement range. The equation is: Y=Acos(TX+B)+C, X is the time of movement, Y is the displacement.According to the movement range of the hydraulic cylinder, the movement distance of the hydraulic cylinder piston is controlled between 50mm. The motion formula of the relation three hydraulic cylinders areY1=25cos20X-25Y2=25cos30X-25Y3=25cos15X-25The next work is to definite the movement. Firstly, definite the analysis tools, select the length and frame frequency for the position type. Set the finish time at 60, this will make the three hydraulic cylinders move a complete alternation, and return the original position. The frequency is set to 10, interval is set to 0.1, make the three motors move, observe the motion disciplinarian, one can observe the motion effect and whether the mechanism is interference.The aim of simulation is to analysis the course of work, and then to provide reference for the design of next step. One can use the another method to analysis the motion properties. Exert main body torque to the upper plate, make the upper plate move to the extreme position, in the process one can measure the point or shaft using the measure tools, generating motion date figure or table, one can analysis the figure and table farther.Fig. 6 Motion curve of one hydraulic cylinder3.3.2 Movement simulation by drawing or pulling freedomExerting force or torque in differ direction, one can drive the upper plate moving or rotating. According the requirement of the design, the 6 degrees of freedom should be measured of the upper plate, exert force in the direction of X, Y, Z, move the upper plate to the terminal position, the distances of surge, sway, heave will be gotten; exert the torque in the shaft of X, Y, Z, rotate the upper plate to the terminal position, the angles of roll, pitch, yaw will be gotten.4 ConclusionsThis paper adopted the software of Pro/E to model 3-D manipulator, avoiding the complex calculation of the dimensions and fussy check of the intervene of movement in tradition mechanism design.We can model the main components by analyzing the design requirements, the method needs not to calculate the displacement of the components. Assembly with Pro/E can produce a thought of facing to the designer, this designer will not need fussy calculation to the structure, one can concentrate stamina on perfecting the construction In the paper, software of Pro/E was used to modal the main body and simulate it movement of the manipulator. The designer can predict the mechanism beforehand by modeling, measuring the multiple points on the parts in movement course, the designer can know the change of displacements and angles, contrast the design target and the function of mechanism, with these, the designer can improve the manipulator structure, fulfill the design target. In the paper, we simulate the standard movements and pull or draw the handle of the manipulator under the restrictions to move it, we can measure the movement space, check the intervene of movement, these make the design project more forecast.In the paper, the software of pro/engineer was used to model and simulate the manipulator, It has very important guidance meaning to validate the work principle, check the work space and the intervene.References1 Deng Le, Zhao Dingxuan, Tang Xinxing. “Design of a Manual Controller of 6-DOF Force Feedback Based on Stewart Platform,” Journal of Agriculture Mechanism, 2005, 36(7): 118-121.2 Stewart D. “A Platform with six degrees of freedom”. Proc Inst Mech Eng, 1965, 180(15): 371-386.3 S. Kudomi, et al. “Development Of A Parallel Link Type Force Display,” (A Force Display Device By Means Of Hydraulic Or Pneumatic Servo System) Proc. Spring Conf. of Fluid Power System, 1999, pp. 37-39.4 S. Kudomi, H. Yamada and T. Muto. “Development of a hydraulic parallel link type of force display,” Proc. 5th JHPS Inter. Symp. on Fluid Power, 2002, pp. 471-476.5 Ning Yi. “Performance And Evaluation Method Of Master Manipulator,” Journal of ROBOT, 2000, 22(4): 282-288.6 Sun Lining. “Static Analysis On New Force Sensing System Of 6-DOF Parallel Robot,” Journal of Harbin Institute of Technology, 2004, 36(8): 1130-1133.7 Wang Yongliang. “Application Of Displacement Sensor In 6 DOF Motion Platform,” Journal of Transducer Technology, 2003, 22(4): 49-50.8 Zhang Tao, Shen Jiaqi, Liu Huilin. “Non Interferential Workspace of 6-6 Stewart Mechanism”. Journal of Shandong University of Technology, 1998, 28(6): 527-531.9 Long Zhen Studio. Pro/Mechanism/MECHANICA Wildfire2.0 mechanism/motion/structure/thermo mechanical analysis, Electro Industry Press, Beijing, 2006the National Natural Science Foundation of China for contract 50475711978 -1-4244-1579-3/07 2007 IEEE基于六自由度Stewart平台并利用Pro/E进行机械手的建模和仿真Zhuxin Zhang and Tiehua Chen Changchun institute of technology Jilin, Changchun 130021, ChinaDingxuan Zhao Jilin university Jilin, Changchun 130025, China摘 要 对于一个主从遥控操作系统而言，力反馈器是一个特别关键的设备。这篇论文主要介绍了运用了力反馈器的机械手的基本原理，机械手设计的主要结构，并介绍了利用Pro/E软件进行建模和运动仿真以及此软件的其他相关功能。这篇论文利用Pro/E软件的建模和运动仿真功能模拟力反馈控制器。通过利用软件对机械手进行建模和运动仿真，可以预先检测到运动干预，并可以找到干涉位置。而且可以分析机械手的运动空间，判断运动的可能性，因此实现设计目标。通过建模和运动仿真，可以提高设计效率，这样就可以减少原型机的设计和制造成本。关键词 建模；运动模拟；机械手1 前言机械手是一种重要的人机交接口1，它是人们感知外界环境和控制外界环境的中间媒介并可以远程现场工作的机器人。机械手是一种能模仿人手和臂膀的某些动作功能，用以按固定程序抓取、搬运物件或操作工具的自动操作装置。机械手有两个主要的功能。机械手主要由手部和运动机构组成。手部是用来抓持工件的部件，根据被抓持物件的形状、尺寸、重要、材料和作业要求而有多种结构形式。运动机构，使手部完成各种转动、移动或复合运动来实现规定的动作，改变被抓持物件的位置和姿势。运动机构的升降、伸缩、旋转等独立运动方式，称为机械手的自由度。为了抓取空间中任意位置和方位的物体，需要六个自由度。自由度是机械手设计的关键参数，自由度越多，机械手的灵活性越大，适用性越广，其结构也越复杂。在工业生产中应用的机械手被称为工业机械手。工业机械手是近代自动控制领域中出现的一项新技术，并已经成为现代机械制造生产系统中的一个重要组成部分，这种新技术发展很快，逐渐成为一门新兴的学科机械手工程。机械手涉及到力学、机械学、电器液压技术、自动控制技术、传感器技术和计算机技术等科学领域，是一门跨学科综合技术。工业机器人向模块化、可重构化发展。例如关节模块中的伺服电机、减速机、检测系统三位一体化；由关节模块、连杆模块用重组方式构造机器人整机，国外已有模块化装配机器人产品问市。第一，机械手可以及时的代替人们做出正确的动作在外界环境中，它也可以提供远距离操作的功能，对于操作者来说就好像他就在那个工作环境中一样。这样就有利于操作员做出决策。第二，机械手可以正确完整的检测出操作者的位置和姿态信息，并及时的操动控制器，机器人复制对应的动作，这样就为人们直接控制机器人提供了方法和手段。因为机械手有这么多重要的功能，所以开发这些可以远距离操作控制的六个自由度的机械手是很有意义的。六个自由度的Stewart操作平台2是并行连接的类型的机器的典型代表。它的工作空间很小，加工起来比较简单，精确度高，刚性强3,4。它的动态性能很好而且很容易操作。机械手的结构就是基于六个自由度的Stewart操作平台。2 机械手的结构设计实验系统的六个自由度操控的机器人的设计包括：主机械手及其控制系统，副机械手及其控制系统。本篇论文不分析设计理论，仅仅介绍机械手的结构。主、从机械手的设计具有相同的结构，主要的结构组成有主体平台、电液伺服驱动系统、检测和控制系统。机械手设计的主体在斯图尔特平台上，如图1所示。它的组件括：图1 基于Stewart平台的机械手上端平台、底端平台、六个并行链接类型的往复活塞棒和连接等等。上端平台是可以移动的，底端平台是基础不动的。这上下两个平台是与六个单活塞杆液压缸和十二个普通链节相连起来的。在上端的平台一侧，有S形状的拉压传感器用于感应反馈，并通过液压缸连接上端平台。液压缸和棒检测缸之间的位移传感器是固定不变的。机械手操作部分被放置在平台中心处的螺栓上。电液伺服驱动应用系统有着高精密度驱动力量和快速反应以及稳定和可靠的工作性能。所以它可以实现精确的位置移动。因为机械手的运动空间有限，考虑运动系统的结构和经济性的要求，所以采用对称阀控制非对称缸的系统。非对称缸在一端有一个单杆。它的优点就是占用空间小，结构简单，生产成本低而且输出量大。机械手是一种机电一体化的设备，所以它就需要满足两者都具有的原则，例如，结构紧凑、传动敏捷性和可信度，足够的刚度和强度，等等。机械手也应该拥有属于它自己的专业特点。机械手应该使操作者在远程虚拟环境中获得触觉和力量的信号，所以机械手它应该是在飞机或旋转运动学中解耦的控制理论。为了满足这些要求，机械手应该有各向同性的特点性质，在结构上并没有不同点5。为了模拟人类肌肉和展示综合机器和措施6，力传感器被固定在液压缸杆上，使用六维拉压力传感器来测量六个维度的力量。拉压传感器是一种S形的。磁致伸缩位移传感器是一个选择类型。它可以测量出准确的位置，原始脉冲，终止脉冲和两者之间的时间间隔。这种传感器有许多优点，例如：较好的精度、低廉的价格、寿命长、安装方便等。所以，它是六自由度运动平台更好的位移测量元素7。本篇论文建议7采用滚动摩擦而不是滑动摩擦,、不是采用球形接头和衬管接头。在这里，一般的关节选为成对的。为了保持建模和运动仿真，我们就解释六个自由度机械手的工作空间的工作的意义。工作空间是Stewart平台机制的一个重要的目标工作特点8。工作空间的范围是可移动的运动平台或者是六个自由度的运动平台中心的范围。无干涉范围是指连接杆在移动过程中不发生碰撞的工作空间。操作者必须保证六个连接杆在活塞杆运动过程中的任何时间不发生碰撞且在长度设计范围之内。一旦发生干预，运动状态将会被破坏，从而造成整个系统都不能完整健全的工作。3 建模与仿真的操作者3.1 建模和运动仿真的软件选择三维建模和虚拟技术为概念设计和产品创新和生产提供了一个非常方便的平台。首先，设计人员可以利用三维概念设计和构思产品的初始形状；然后，分析和估计未来产品生产的可能性、质量的可靠性，设计人员可以使用软件来做工程分析的技术、数学仿真以及虚拟现实等等。特别地，这样的设计方法可以集中设计师的智慧，提高设计师的创新技能。本篇论文使用Pro/E软件来模拟机械手。Pro/E软件是一款著名的三维CAD/CAM软件。Pro/E软件是一套机械设计自动化软件系统，它是新一代CAD/CAM软件，实现了产品零件或组件从概念设计到制造全过程设计的自动化，提供了以参数化为基础，基于特征的实体造型技术，主要用于汽车及运输机械，宇宙和飞机制造，电子及计算机设备行业及其他行业。它已经被应用在许多领域，例如：机械，电子，工业造型，航天，家电产品，模型制造等等。它也可以用于设计组件、部件、组装产品、数控加工、模拟、CAE、PDM等。由PTC公司提出的基于角色和整个关系的单一数据库、参数的概念已经改变了传统的观念机制（CAD/CAE/CAM）。第三代的CAD/CAE/CAM软件即Pro/E软件可以集成产品设计和生产过程为一体。它允许所有的用户设计和制造相同的单件产品。由于它简洁的用户界面和清晰的概念，Pro/E软件适合各种意识形态的或是为专门定制的工程技术人员。它的整个系统是与一个统一的数据库和模型完整统一起来的。Pro/E软件提供的一些功能设施，把握了整个构想，参数的相关行PRO/E软件包的产品开发环境在支持并行工作，它通过一系列完全相关的模块表达产品的外形、装配及其他功能。PRO/E能够让多个部门同事致力于单一的产品模型。包括对大型项目的装配体管理、功能仿真、制造、数据管理等。PRO/E可谓是个全方位的3D产品开发软件，集合了零件设计、产品组合、模具开发、NC加工、钣金件设计、铸造件设计、造型设计、逆向工程、自动测量、机构仿真、应力分析、产品数据管理于一体，其模块众多。主要由以下六大主模块组成：工业设计、模块、机械设计模块、功能仿真模块、制造模块、数据管理模块、数据交换模块。在函数模型块的系列设计项目中，Pro/E9软件提供了组件设计、智能化的工具的改变。所有的这些工具以及功能，使得设计师有效地掌握整个构想，控制整个设计过程。所有的函数提供横向和纵向上的自由度。3.2 主体建模因为机制设计集成的模型，所以我们首先需要画出组件模型。Pro/E软件是一款有效的三维设计软件，对于建模用它非常方便。在这里我们仅仅介绍了模型。如图2所示。 图2 基于Stewart平台的机械手的主要组件当要组件模型时，首先我们组装的组件要根据运动的特点，即分组的组件移动的关系。这样，组装液压缸体和位移，组装力传感器和位移和液压缸的杆，万向节和防松螺母等等。 图3 基于Stewart平台的组件操作接下来就是组装整个组件。底端的平台选为默认的主体，然后将万向节总成，销轴限制中间的那一块和另外一个万向节；然后，进行液压缸体和销轴的限制。最后组装的影像图是图4。 图4 基于Stewart平台的机械手的组装过程当机械手组装完成后，动态源可以组装到液压缸上，这些可以使机器根据设计代码进行运动，并分析运动的结果。由于在PRO/E中实体模型可以有多种不同的构造方法，采取何种方法更为合理、高效，需要有一个经验积累的过程。一般来说，要根据图形的形状选择合适的构造模型的方式。因此，在设计实体模型之前，必须要考虑好模型的生成方法和步骤。其中，建模的难点在于辅助平面和辅助点的建立，只有建立好辅助平面和辅助点，才能保证零件模型的精确性。在这个过程中，负载或者模拟重力可以被添加到机械手上。这将会减少设计师在计算过程中的复杂计算。它可以生成数据或者表格从而来帮助设计师来做分析，通过点或轴方便的选择模型。PRO/E软件可以直接从建模机制切换到机制模块。当切换到机制模块时，所有的运动学特性都将显示出符号的双机制。如图5所示。图5 机械手上的所有运动副3.3 运动仿真通过模拟运动，可以观察到一个机械手的工作空间；或是研究结束的时候，运动执行机构的运动工作区域；或是六自由度机械手上平面中心的运动范围。3.3.1 模拟与规则运动这是根据预定的规律来进行模拟。添加伺服马达液压缸杆，选择余弦模式，并确保位移范围。方程是： X代表时间，Y代表位移。根据液压的适用范围，气缸、液压缸的运动距离，活塞杆控制在50mm之间。三个液压运动关系的公式是接下来的工作就是确定运动。首先，确定分析用的工具，选择帧的长度以及频率位置类型。完成时间在60秒，这将使三个液压缸的移动变得更加完整，并返回初始位置。将频率设置为10，间隔设置为0.1，让三个气缸移动。观察运动规律，这样就可以观察运动效果和机制干扰。仿真的目的是分析工作的过程，然后为下一步的设计提供参考。一个人也可以使用另一种方法来分析运动属性。让主体上盘转矩移动到极限位置，在处理一个可以测量的点或轴时使用测量工具，就会生成图或表，而且还可以对其进行分析。如图6所示：图6 液压缸的运动曲线3.3.2 运动仿真图施加的力或