Research on Trajectory Planning and Autodig of Hydraulic Excavator

Zhang, Bin; Wang, Shuang; Liu, Yuting; Yang, Huayong

doi:10.1155/2017/7139858

Cited by 13 publications

(10 citation statements)

References 17 publications

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“…The above described motion along a predefined trajectory can be considerably facilitated by the use of the widely used 28 and well-studied excavator automatic digging system. [29][30][31] The current article investigates the second case. The values of the angles u 2 ,u 3 , and u 4 (see Figure 1) determine the horizontal and vertical position of the cutting edge in the plane.…”

Section: Kinematic Model and Trajectory Planningmentioning

confidence: 99%

Numerical study of the hydraulic excavator overturning stability during performing lifting operations

Mitrev

Marinković

2019

Advances in Mechanical Engineering

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This article presents a numerical study of the stability of a hydraulic excavator during performing lifting operations. A planar dynamic model is developed with six degrees of freedom, which considers the base body elastic connection with the terrain, the front digging manipulator links, and the presence of the freely suspended payload. Differential equations describing the excavator dynamic behavior are obtained by using the Lagrange formalism. Numerical experiments are carried out to study the excavator dynamic stability under different operating conditions during the motion along a vertical straight-line trajectory. It is shown that the arising inertial loads during the movement of the links along the vertical trajectory, combined with the payload swinging and the motion of the base body, decreases the excavator stability. It was found that the excavator stability during following vertical straight-line trajectory decreases considerably in the lower part of the vertical trajectory. If the stability coefficient is close to 1, the payload swinging can cause the separation of a support from the terrain; nevertheless, the excavator stability can be restored. A method for tire stiffness and damping coefficients estimation is presented. The validation of the dynamical model is performed by the use of a smallscale elastically mounted manipulator.

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Section: Kinematic Model and Trajectory Planningmentioning

confidence: 99%

Numerical study of the hydraulic excavator overturning stability during performing lifting operations

Mitrev

Marinković

2019

Advances in Mechanical Engineering

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“…e D-H coordinates system of the hydraulic excavator is established ( Figure 3) [19,20]. e relationship between adjacent coordinates systems (o i x i y i z i and o j x j y j z j ) can be expressed by the following four parameters: o set distance s j (the distance from axis x i to axis x j along axis z i ), angle θ j (the angle from axis x i to axis x j along axis z i ), rod length h j (the distance from axis z i to axis z j along axis x j ), and torsion angle α j (the angle from axis z i to axis z j along axis x j ).…”

Section: Kinematics Modelmentioning

confidence: 99%

Active-Side Calculation Method for a Backhoe Hydraulic Excavator with Incomplete Digging Resistance in a Normal State

Ren

Wang

Chen

et al. 2019

Mathematical Problems in Engineering

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The digging resistance in a normal state is the key to excavator design and automated excavation. It is difficult to accurately predict, simulate, or directly measure the digging resistance in a normal state due to uncertainties in the soil properties and excavation parameters. In this paper, a research idea is proposed that uses the working device as the entry point to indirectly calculate the digging resistance in a normal state by measuring the motion parameters and the cylinder pressure intensity. Based on the rule of combination for spatial force systems, a method for combining and projecting the system of the digging resistance is proposed in which the system is projected as six parts, and the tangential force, normal force, and bending moment in the plane of symmetry of the working device are the objects of the solution to avoid redundant equations. Based on kinematics and dynamics models of the excavator and the force and moment equilibrium conditions of the working device, equations for the active-side calculation of the incomplete digging resistance are derived. Based on these equations, the motion parameters of the working device and data on the cylinder pressure intensity obtained by measurement are used to calculate the incomplete digging resistance. The validation scheme and process proposed use the incomplete digging resistance as the external load to obtain the simulated stress of the working device through transient analysis. The simulated stress and the measured stress corresponding to the position of the measurement point are extracted and compared. The results show that there is a difference in the size of the numerical value between the simulated and measured stress, but the variation law is highly consistent, which validates the calculation method. In this paper, an active-side calculation method is provided for the incomplete digging resistance in a normal state without considering the soil-tool interaction relationships, which lays a theoretical foundation for the study of the digging resistance characteristics in a normal state, as well as excavator design and automated excavation.

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“…Most of the literature focuses on the planning and control of excavator systems [5], [6]. The influence of soil resistance on excavation work is not considered, which causes difficulty for the automatic excavation system but is favorable for an operator in planning the operation trajectory and completing the excavation according to the soil properties.…”

Section: Introductionmentioning

confidence: 99%

A Novel Method of Soil Parameter Identification and Force Prediction for Automatic Excavation

et al. 2020

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A shortage of soil property parameters is preventing the automatic excavation system from being used in a digging operation adaptively like an operator. This study proposes a new method of soil parameter identification and digging resistance prediction that classifies the entire excavation process into three parts: penetration, cutting, and loading. A fuzzy estimation strategy is introduced into penetration to estimate the property parameters of the soil depending on the peak value and the average value of soil resistance. Furthermore, an improved FEE model was used to describe the soil-tool interaction and predict the soil resistive forces. The traditional way of predicting after identifying, which needs at least two excavations, can hardly equal this method in flexibility and real-time functionality. The proposed method can identify soil parameters and predict digging forces on one excavation, which is more adapt to soil parameter variation. The experimental results show that the proposed method can identify precisely and predict effectively.

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Research on Trajectory Planning and Autodig of Hydraulic Excavator

Cited by 13 publications

References 17 publications

Numerical study of the hydraulic excavator overturning stability during performing lifting operations

Numerical study of the hydraulic excavator overturning stability during performing lifting operations

Active-Side Calculation Method for a Backhoe Hydraulic Excavator with Incomplete Digging Resistance in a Normal State

A Novel Method of Soil Parameter Identification and Force Prediction for Automatic Excavation

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