Schramm, Dieter; Franitza, Daniel; Lalo, Wildan:

Virtual prototyping and real-time simulation of heavy equipment manipulators including elastic deformations and hydraulics

In: 22nd International Symposium on Automation and Robotics in Construction, ISARC 2005
Ferrara, Italy (2005), S. 6
Buchaufsatz / Kapitel / Fach: Maschinenbau
The efficient and unerring development of sophisticated
manipulation machinery strongly relies on the efficient use
of CAE (Computer Aided Engineering) methods. Meanwhile
these methods more and more spread into areas, which have been
so far domains of so called VR (Virtual Reality). This encompasses
the design aspect as well as the simulation of an already
defined device under given workload and working environment
along with the option for an easy adaptation to any change of the
Whereas the efficient and reliable simulation of the real world
behaviour of rigid body models is state of the art even for complex
machines the inclusion of elastic effects especially in real time
simulations is still the cutting edge of technical simulation. This
includes the elasticity of the multibody structure itself as well as
the influence of compliant hydraulic subsystems coupled to the
deformable structure.
The paper looks at the off-line as well as at the real-time simulation
of elastic hydraulically driven heavy multi-axes manipulators
like e.g. concrete pumps. The application of the tools to support
the development of heavy machines will be discussed. Along
with the simulation of the operation behaviour the work done also
focuses on the support of the advanced man-machine-interfaces
used to operate the device.
Various modules have been developed and proved to easily include
hydraulic components like interfaces to Hydraulic Simulation
Software Systems, like e.g. DSHplus into the description of
the dynamic behaviour of the basic elastic mechanical structure.
There is also a strong need to run simulation programs for the
devices under consideration in real-time mode. Therefore strategies
were developed and applied to various examples to simplify
the respective model architectures along with the simulation algorithms
in order to allow real-time simulations reflecting the actual
properties of the device with still a high precision level. The models
created are suited to be converted into a 'real-time code' with
the option to be uploaded onto the microcontroller of the machine
The application of the methods presented will be explained at
an example based on real world equipment including on-line animation.

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