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Parallel mechanism with stiffness, high load capacity, the position error is not cumulative, high precision, fast dynamic response characteristics, hydraulic transmission to provide precise linear motion and power of the hydraulic drive system volume ratio has higher precision and response speed, wide speed range, and thus hydraulic driven parallel mechanism widely used in industrial, marine, aerospace and other fields. With the development of science and technology, design methodology is constantly updated, virtual prototyping technology has developed rapidly in recent years, the combination of robotics research and virtual prototyping technology for robot design and manufacturing process kinematics, dynamics, trajectory and path planning The technical content of the research and system development, design and performance analysis of the robot in the virtual environment, increase reliability, improve the design efficiency. The goal of this paper is based on the virtual prototype modeling hydraulic 6-DOF parallel mechanism. The virtual prototype model of the existing parallel mechanism concentrated in institutions Modeling, less involved driving part, especially on the part of the modeling of the hydraulic system to simplify. This article intends to establish the hydraulic parallel institutions including hydraulic, institutions, and control, including virtual prototype, hydraulic parts with high accuracy and good scalability. AMESim software, detailed modeling of single-cylinder hydraulic system, and to study the key technologies in hydraulic modeling. By adjusting the parameters of the servo valve model in AMESim, consistent with the actual electro-hydraulic servo valve characteristic curve; against the cylinder low speed friction characteristics, the establishment of a detailed model of friction; PID control principle, the establishment of a single-cylinder hydraulic control system to achieve a frequency response requirements; AMESim and ADAMS can not handle both the quality characteristics of the situation, with no way to achieve quality processing interface AMESim and ADAMS, thus constituting a virtual prototype hydraulic parallel mechanism. The pilot study, co-simulation interface interface parameters to select the joint simulation accuracy, and co-simulation problem analysis and resolution. In this co-simulation model, the virtual prototype hydraulic control parallel mechanism kinematics numerical experiments to observe the system step response, ramp, sinusoidal response and tracking features. Joint simulation model of the system and for the characteristics of the parallel mechanism characterization study. Hydraulic parallel mechanism established virtual prototype will hydraulic parallel mechanism dynamics analysis, control strategy study to provide a convenient and efficient platform.
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