IHA - 2700 Advanced Course in Modelling and

Simulation of Fluid Power Systems

Simmechanics and Exercise Assignment

Presentation of the assignment

Brief tutorial on Simmechanics software

IHA - 2700 Advanced Course in Modelling and Simulation of Fluid Power Systems

15.11.2006

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.

IHA - 2700 Advanced Course in Modelling and Simulation of Fluid Power Systems

15.11.2006

Simmechanics

and Exercise Assignment

Geometry, masses and actuator sizes

Joint positions (mm)
JJJJJG
O1O2 = (560,940)
JJJJJG
O2O3 = (792,111)
JJJJJG
O3O4 = (876, 40)

Cylinder #1
pist / rod ( Lmax Lmin )
63/32 ( 1350 1020)
JJJJJJJG
O1 C1A = (47, 73)
JJJJJJJG
O2 C1B = (95,178)

Cylinder #2
pist / rod ( Lmax Lmin )
50/28 ( 1190 810)
JJJJJJJJG
O2 C 2 A = (162, 297)
JJJJJJJJG
O3 C 2 B = (138,147)

Cylinder #3
pist / rod ( Lmax Lmin )
50/28 ( 1190 810)

Arm #1
m = 110 kg
JJJJJG
O1 cm = (134, 442)

Arm #2
m = 46 kg
JJJJJJG
O2 cm = (198,135)

Arm #3
m = 33 kg
JJJJJJG
O3 cm = (290,55)

Arm #4 (telescopic)
m = 26 kg
length = 800 mm

IHA - 2700 Advanced Course in Modelling and Simulation of Fluid Power Systems

15.11.2006

Simmechanics

and Exercise Assignment

High Level Simulink model layout:

Signal to
valves
Joint angles

IHA - 2700 Advanced Course in Modelling and Simulation of Fluid Power Systems

15.11.2006

Simmechanics

and Exercise Assignment

Hydraulics block layout

IHA - 2700 Advanced Course in Modelling and Simulation of Fluid Power Systems

15.11.2006

Simmechanics

and Exercise Assignment

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.

IHA - 2700 Advanced Course in Modelling and Simulation of Fluid Power Systems

15.11.2006

Simmechanics

and Exercise Assignment

Simmechanics

IHA - 2700 Advanced Course in Modelling and Simulation of Fluid Power Systems

15.11.2006

Simmechanics

and Exercise Assignment

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

IHA - 2700 Advanced Course in Modelling and Simulation of Fluid Power Systems

15.11.2006

Simmechanics

and Exercise Assignment

Example: Cart with a pendulum and a spring-damper

IHA - 2700 Advanced Course in Modelling and Simulation of Fluid Power Systems

15.11.2006

Simmechanics

10

and Exercise Assignment

Simulink Model

IHA - 2700 Advanced Course in Modelling and Simulation of Fluid Power Systems

15.11.2006

Simmechanics

11

and Exercise Assignment

Simmechanics Model

IHA - 2700 Advanced Course in Modelling and Simulation of Fluid Power Systems

15.11.2006

Simmechanics

12

and Exercise Assignment

IHA - 2700 Advanced Course in Modelling and Simulation of Fluid Power Systems

15.11.2006

Simmechanics

13

and Exercise Assignment

IHA - 2700 Advanced Course in Modelling and Simulation of Fluid Power Systems

15.11.2006

Simmechanics

14

and Exercise Assignment

IHA - 2700 Advanced Course in Modelling and Simulation of Fluid Power Systems

15.11.2006

Simmechanics

15

and Exercise Assignment

IHA - 2700 Advanced Course in Modelling and Simulation of Fluid Power Systems

15.11.2006

Simmechanics

16

and Exercise Assignment

IHA - 2700 Advanced Course in Modelling and Simulation of Fluid Power Systems

15.11.2006

Simmechanics

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and Exercise Assignment

Calendar & info:

Exercise returning/evaluation deadline 26.1.2007
IHAs 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 Esqu, huone 2427, salvador.esque@tut.fi

IHA - 2700 Advanced Course in Modelling and Simulation of Fluid Power Systems

15.11.2006