Integrated expression and general optimisation method of bucket shape line of backhoe hydraulic excavator

Sun, Haoran; Ren, Zhigui; Wang, Junli; Wei, Weifeng; Liang, Yongyong; Feng, Minghao

doi:10.1007/s12206-021-0525-0

Cited by 7 publications

(6 citation statements)

References 8 publications

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“…The shape of the bucket in its plane of symmetry is mainly determined by this curve, which is called the bucket shape line, and the bucket length line l 4 is used to connect the bucket shape line at the beginning and end to form a closed curve. 25 To express the geometry of the bucket-shaped line, the center of the circle of the bucket bottom arc is the origin O, the horizontal direction of the bucket length line is the X-axis, the direction passing through the origin O and perpendicular to the X-axis is the Y-axis, and the direction perpendicular to the XY plane to the outside of the picture is the Z-axis, to establish a right-angle coordinate system. As can be seen from the picture, the bucket shape line is determined by the cutting angle β , the bucket length R , the bucket back angle γ , and the radius r of the bucket base plate.…”

Section: Parametric Modeling Of the Bucketmentioning

confidence: 99%

“…Previously, the author’s team has carried out some studies on bucket optimization from a theoretical view, which will be briefly presented in Section 3. The present study differs in that it optimizes the bucket in terms of strength based on the literature 25 and under real working conditions. This research proposes a method for optimizing the bucket structure based on a compound digging trajectory and limit digging force.…”

Section: Introductionmentioning

confidence: 99%

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Bucket structure optimization of backhoe hydraulic excavator based on compound digging trajectory and limit digging force

Sun

Ren

et al. 2022

Advances in Mechanical Engineering

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A bucket structure optimization method based on compound digging trajectory and limit digging force was proposed for the problem that the real digging resistance of excavators is difficult to measure and difficult to use as bucket load for structure optimization. The uncertainty of the digging resistance in the actual digging process of the excavator was analyzed, and a digging trajectory was obtained by active digging using the compound digging action. Based on the limit digging force model, the digging force and its variation law were calculated, and analyzed for different hydraulic cylinder’s active digging in the trajectory. Based on the bucket shape line equation, a parametric model of the bucket was established using APDL language, and the bucket stress variation under different digging actions was analyzed. The bucket stress and mass were reduced by 4.59% and 5.84% respectively after optimization.

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Section: Parametric Modeling Of the Bucketmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Bucket structure optimization of backhoe hydraulic excavator based on compound digging trajectory and limit digging force

Sun

Ren

et al. 2022

Advances in Mechanical Engineering

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“…Electro-hydraulic servo systems (EHSs) have been widely used in the industrial and mobile engineering equipment due to their advantages of large torques/force output, high power-to-weight ratio, fast dynamics, and so on. For instance, they have been applied to the hydraulic excavator, 1 underwater manipulator, 2 load simulator, 3 underground TBM, 4 and so on. The mechatronics plant we studied in this article is a boom-type roadheader shown in Figure 1.…”

Section: Introductionmentioning

confidence: 99%

Disturbance observer–based backstepping sliding mode cascade control of 2–degrees of freedom hydraulic tunneling robot

Zhang,

Shen,

Tang

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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For the 2–degrees of freedom position tracking problem of the robotized hydraulic-driven roadheader with high nonlinearities and strong uncertainties, a practical disturbance observer–based backstepping sliding cascade control method together with an adaptive compensator is proposed and investigated. The presented methodology mainly includes a continuous nonsingular fast terminal sliding mode with the backstepping technique and the power reaching law with time-varying coefficients used to achieve satisfactory performance against the multi-source disturbances, two disturbance observers used to approximately estimate the unknown dynamics in the mechanical and hydraulic subsystem, respectively. Simultaneously, a continuous robustifying term is also utilized to compensate for the residual disturbances and enhance the robustness. The presented control method doesn’t need the precise model thanks to the auxiliary disturbance observer, and can ensure fast convergence and small tracking error thanks to the backstepping sliding cascade control and the adaptive robust compensator. Based on Lyapunov theory, stability of the overall closed-loop system is proved rigorously, and asymptotically bounded tracking performance of the robotic manipulator is guaranteed. Finally, 2–degrees of freedom trajectory tracking experiments are conducted, and comparative results effectively verify the superiorities of the proposed method.

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“…In the pursuit of optimizing excavation performance, Akter and Basak [10] proposed diverse bucket tooth designs, including bionic bucket tooth designs, which exhibited lower equivalent forces and total deformation, as well as higher maximum Von-Mises stresses on the soil model when compared to standard bucket teeth. Sun et al [11], on the other hand, employed a genetic algorithm to derive the optimal shape line of the bucket, resulting in a 9.92% reduction in cutting angle compared to the pre-optimization stage. This reduction in cutting angle proves advantageous in mitigating digging resistance.…”

Section: Introductionmentioning

confidence: 99%

Dynamic digging force modeling and comparative analysis of backhoe hydraulic excavators

Li,

Ren,

Pang

et al. 2023

Meas. Sci. Technol.

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The evaluation of excavator performance relies heavily on digging force, which serves as a crucial indicator. However, the accuracy of performance assessment is hindered by the absence of a suitable method to characterize the dynamic digging capacity of excavators. This study addresses this limitation by proposing an approach to establish a set of solution-limited inequalities for dynamic digging force. The approach incorporates D’Alembert’s principle and composite digging, while considering the influence of inertia force. Furthermore, to mitigate the issue of bucket tooth tip trajectory shaking caused by discontinuous posture during excavation, an amount of measurement data from a 20-ton machine is utilized to construct a consistent theoretical digging trajectory. The theoretical trajectory is subjected to numerical verification to determine the dynamic digging force along the trajectory. A comparative analysis is then conducted, contrasting the obtained dynamic digging force with different theoretical digging forces and measured resistances. Additionally, the dynamic digging forces within the selected digging area of the machine are characterized, without accounting for attitude continuity. The findings demonstrate that the dynamic digging force effectively captures the excavator’s performance along the trajectory, and it also provides an excellent characterization of the digging force at discrete digging spots.

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Integrated expression and general optimisation method of bucket shape line of backhoe hydraulic excavator

Cited by 7 publications

References 8 publications

Bucket structure optimization of backhoe hydraulic excavator based on compound digging trajectory and limit digging force

Bucket structure optimization of backhoe hydraulic excavator based on compound digging trajectory and limit digging force

Disturbance observer–based backstepping sliding mode cascade control of 2–degrees of freedom hydraulic tunneling robot

Dynamic digging force modeling and comparative analysis of backhoe hydraulic excavators

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