Development and Evaluation of Simulator for Field Robot

Author

Kwon, Soon-Kwang ; Kim, Yong-Seok ; Lee, Chang-Don ; Yang, Soon-Young

Author_Institution

Dept. of Mech. & Automotive Eng., Univ. of Ulsan, Ulsan

fYear

2008

fDate

9-11 April 2008

Firstpage

419

Lastpage

423

Abstract

This paper presents the development of the hydraulic simulator for field robots. The simulation is based on a 1.5 ton hydraulic excavator which is a kind of field robot. The field robot is operated by a main control valve which is controlled by EPPR (Electro Proportional Pressure Reducing) valve. In order to automate the field robot, angular sensors are installed at each joint. They measure angles of boom, arm and bucket. And hydraulic pressure sensors which are attached to both ends of the boom, arm and bucket cylinders measure pressure variations. These angles and pressure variations are used to evaluate the developed simulator. The simulator is developed for the hydraulic system using AMESim. It consists of boom, arm, bucket and MCV (main control valve).

Keywords

excavators; hydraulic systems; pressure sensors; robots; valves; AMESim; EPPR valve; MCV; angular sensors; bucket cylinders; electro proportional pressure reducing valve; field robot; hydraulic excavator; hydraulic pressure sensors; hydraulic simulator; hydraulic system; main control valve; Automatic control; Automotive engineering; Circuits; Pressure control; Proportional control; Pulp manufacturing; Robot sensing systems; Robotics and automation; Testing; Valves; AMESim; Field robot; Hydraulic excavator; Simulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Smart Manufacturing Application, 2008. ICSMA 2008. International Conference on

Conference_Location

Gyeonggi-do

Print_ISBN

978-89-950038-8-6

Electronic_ISBN

978-89-962150-0-4

Type

conf

DOI

10.1109/ICSMA.2008.4505565

Filename

4505565