Automated Grading Operation for Hydraulic Excavators

Xu, Jiaqi; Thompson, Bradley; Yoon, Hwan‐Sik

doi:10.4271/2014-01-2405

Cited by 3 publications

(6 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In the kinematic design of an automatic excavator, path planning is of primary concern where the desired global coordinates of the bucket tip and the associated motion of the other links need to be determined. As an analytical method, the Cartesian-Space trajectory planning method has been extensively applied in the literature [18,[22][23][24][25]. More specifically, 3rd-or 5th-order polynomials have been employed in the path planning of a manipulator occasionally.…”

Section: Kinematic Modelsmentioning

confidence: 99%

“…Although the 3rd-order method is simple to use, the major disadvantage of this approach is that the acceleration of the manipulator links is not continuous. The discontinuities in the acceleration profile may cause sudden and large force variations, which lead to jerk on the manipulator [18,24]. For this reason, a jerk-free trajectory planning method was developed using 5th-order polynomials, where the motion trajectories can be described by…”

Section: Journal Of Construction Engineeringmentioning

confidence: 99%

“…For accurate simulation and visual presentation of excavator manipulators, various commercial software tools have been utilized. Among many choices, three software tools are widely used for excavator simulation: MATLAB/Simulink, Amesim, and Adams [18,19,[46][47][48]. For example, an excavator manipulator dynamic model developed in SimMechanics is shown in Figure 8, and an excavator model developed in Adams is shown in Figure 9.…”

Section: Dynamic Modelsmentioning

confidence: 99%

“…Dynamic system simulation software typically has the functionality to produce dynamic properties of a manipulator when a CAD model for the manipulator is available [18,46]. This process expedites the dynamic modeling of an excavator system with relatively high accuracies.…”

Section: Dynamic Modelsmentioning

confidence: 99%

“…For excavator manipulators, the drive forces or torques are produced by hydraulic systems including pumps, valves, and cylinders [18,25,49]. Therefore, modeling and simulation of hydraulic systems comprise an important component for the design and analysis of an excavator manipulator system.…”

Section: Hydraulic System Modelingmentioning

confidence: 99%

See 4 more Smart Citations

A Review on Mechanical and Hydraulic System Modeling of Excavator Manipulator System

Yoon

2016

Journal of Construction Engineering

Self Cite

View full text Add to dashboard Cite

A recent trend in the development of off-highway construction equipment, such as excavators, is to use a system model for model-based system design in a virtual environment. Also, control system design for advanced excavation systems, such as automatic excavators and hybrid excavators, requires system models in order to design and simulate the control systems. Therefore, modeling of an excavator is an important first step toward the development of advanced excavators. This paper reviews results of recent studies on the modeling of mechanical and hydraulic subsystems for the simulation, design, and control development of excavator systems. Kinematic and dynamic modeling efforts are reviewed first. Then, various approaches in the hydraulic system modeling are presented.

show abstract

Section: Kinematic Modelsmentioning

confidence: 99%

Section: Journal Of Construction Engineeringmentioning

confidence: 99%