Dynamic modelling of hydraulic excavator motion using Kane's equations

Šalinić, Slaviša; Bošković, Goran; Nikolić, Marko G.

doi:10.1016/j.autcon.2014.03.024

Cited by 45 publications

(19 citation statements)

References 17 publications

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“…This choice was made both to simplify as much as possible the model, so to lighten the simulation, but also because in this way it is possible to bring back the geometry of the arms of an excavator to the geometry of a SCARA robot taken as a base of study for this comparative work [15,16]. To proceed with the simulation [17,18], once the components have been made and the necessary constraints and couplings have been set, it was decided to place a "motor" at the end of the stick, in correspondence of the fixing pin between the bucket and the stick going to set the law of motion. In this way the movement of the arms is induced by the movement and the position of the point where the motor is applied.…”

Section: Parameters For the Movement Simulationmentioning

confidence: 99%

Excavator with two or three arms: Dynamical behavior and structural implications

Ceresoli¹

2020

FME Transactions

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The purpose of this work is to compare, with the same digging diagrams, the velocity, accelerations and dynamic performances of two excavators with different arm configurations. In particular, constructive solutions involving the use of two and three mobile arms will be examined. For excavators the different construction geometry (2-3 arms) is mainly dictated by reasons of use, in fact the 3 arms solution is normally used in areas that allow poor mobility of vehicle and present obstacles during the excavation phase. The dynamic comparison between the two solutions is performed on real working conditions to which they can be subjected during the exercise. The elaborations are performed both analytically and numerically. Essentially the analysis shows that in the condition of leveling and lifting at minimum distance from the rotation axis the dynamic performances are similar, there are significant differences in the lifting condition at the maximum distance. The diversity also implies significant variations in the forces of the hydraulic cylinders used to move both the load and the arms, an aspect which finds greater emphasis even in the case in which the arms are made by adopting unconventional materials for their realization as aluminum and composites.

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Section: Parameters For the Movement Simulationmentioning

confidence: 99%

Excavator with two or three arms: Dynamical behavior and structural implications

Ceresoli¹

2020

FME Transactions

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“…For the complex logical deduction and hard solution in these equations, the Huston method based on Kane equation [3] is used in this paper to analyse the working device of hydraulic excavator which involves boom, arm and bucket. As [4] reports, Huston method based on Kane equation can effectively solve the problem of multi-body dynamics with low-order body arrays to describe the system's topology structure.…”

Section: Introductionmentioning

confidence: 99%

Dynamics Analysis and Fuzzy Control for the Working Device of Hydraulic Excavator

Xie

2016

Advances in Intelligent Systems and Computing

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The Kane-Huston is adopted in this paper to build the topological structure for the working device of hydraulic excavator. And the virtual prototyping model of the working device is built by the virtual prototype analysis software. Through analysis of the mechanical properties of working device on real working condition and comparing the inverse dynamics gotten by the Kane-Huston with that gotten by the virtual prototype model in software, the correctness of the dynamic equations from the Kane-Huston is verified. Finally, fuzzy control method is used for the optimization of bucket tip trajectory and it has good control effect in the software simulation environment.

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“…In this direction, the robots are usually researched by using the explicit mention of Lagrangian formalisms adapted to robotics. For instance, on the basis of the Kane equation that developed to describe the dynamic behavior for constrained multi-degree-of-freedom discrete system, the dynamic modelling and control method for a bicycle robot and hydraulic excavator have been developed by Beijing University of Posts and Telecommunications and University of Kragujevac, respectively [9,10]. And according to research, Texas A&M University proposed analytical dynamics of variable-mass systems through the theory similar to the Lagrange equation, Appell equations, and Kane equations [11].…”

Section: Introductionmentioning

confidence: 99%

Modular Motion-Structure Design Model for Planetary Surface Sampling

Xie

Li³

2019

International Journal of Aerospace Engineering

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Because there are less restrictions in space, a variety of different movement patterns and equipment structures may be used during the process of planetary surface sampling. Traditionally, the optimal analysis for surface sampling is focused on specific equipment structures and movements; in contrast, a new modular motion-structure design model for surface sampling, which is a more flexible model, is discussed in this paper. By establishing and combining two basic module groups, namely, the motion group and the structure group, this new design model can define and analyse multiple movement patterns and structures. For the motion group, calculating the sampling trajectory is the main purpose, in which there are two basic modules: tridimensional uniform rectilinear movements and tridimensional uniform circular movements. The two basic motion modules can be freely combined in a given coordinate system to simulate a random sampling trajectory. The structure group contains a series of curved and flat plates, which can be defined by a set of unified parameters (including section, extension, and cutting parameters). By assigning different values to these parameters, the curved or flat plates can represent different external shapes. The different structures of the various pieces of surface sampling equipment can be simulated by combining these different plates. In addition to defining these basic modules, analysing the coupling among different modules, which can be simplified to the relationship between velocity and surface, plays an important role in establishing this design model. Based on the modular design theory, this new model will not only reduce the difficulty of analysis but also improve accuracy for planetary surface sampling.

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Dynamic modelling of hydraulic excavator motion using Kane's equations

Cited by 45 publications

References 17 publications

Excavator with two or three arms: Dynamical behavior and structural implications

Excavator with two or three arms: Dynamical behavior and structural implications

Dynamics Analysis and Fuzzy Control for the Working Device of Hydraulic Excavator

Modular Motion-Structure Design Model for Planetary Surface Sampling

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