State of the art in excavators

Chacko, V. M.; Yu, Hongnian; Cang, Shuang; Vlădăreanu, Luige

doi:10.1109/icamechs.2014.6911593

Cited by 13 publications

(12 citation statements)

References 46 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…High degree of non-linearity of the friction model and factors influencing the contact including the surface conditions, material properties, contact conditions and lubricating conditions are among several other factors and the interaction of these factors ensure that the convergence of a single friction modelling equation does not occur. To add to the complexity, dynamic modelling of mechanisms involves additional uncertainties such as the end effector trajectories [150] and environmental interaction [100]. Therefore, it will be necessary to examine each case individually to determine the important influencing factors in each case.…”

Section: Discussionmentioning

confidence: 99%

A review of friction models in interacting joints for durability design

2017

Self Cite

View full text Add to dashboard Cite

This paper presents a comprehensive review of friction modelling to provide an understanding of design for durability within interacting systems. Friction is a complex phenomenon and occurs at the interface of two components in relative motion. Over the last several decades, the effects of friction and its modelling techniques have been of significant interests in terms of industrial applications. There is however a need to develop a unified mathematical model for friction to inform design for durability within the context of varying operational conditions. Classical dynamic mechanisms model for the design of control systems has not incorporated friction phenomena due to non-linearity behaviour. Therefore, the tribological performance concurrently with the joint dynamics of a manipulator joint applied in hazardous environments needs to be fully analysed. Previously the dynamics and impact models used in mechanical joints with clearance have also been examined. The inclusion of reliability and durability during the design phase is very important for manipulators which are deployed in harsh environmental and operational conditions. The revolute joint is susceptible to failures such as in heavy manipulators these revolute joints can be represented by lubricated conformal sliding surfaces. The presence of pollutants such as debris and corrosive constituents has the potential to alter the contacting surfaces, would in turn affect the performance of revolute joints, and puts both reliability and durability of the systems at greater risks of failure. Key literature is identified and a review on the latest developments of the science of friction modelling is presented here. This review is based on a large volume of knowledge. Gaps in the relevant field have been identified to capitalise on for future developments. Therefore, this review will bring significant benefits to researchers, academics and industry professionals.

show abstract

Section: Discussionmentioning

confidence: 99%

A review of friction models in interacting joints for durability design

2017

Self Cite

View full text Add to dashboard Cite

show abstract

“…New assistive technologies will be available for the operators of modern construction machinery, aiming for a continuous increase in production efficiency and operation safety. This will change the way machines are operated [1]. Among others, Gorecky and colleagues describe the impact on future human-machine interaction in digitalised and automated applications by a rising range of functionalities and information which will result in increased human-machine interface (HMI) complexity.…”

Section: Challenges On the Digital Construction Sitementioning

confidence: 99%

UUX Evaluation of a Digitally Advanced Human–Machine Interface for Excavators

Lorenz

Helmert

Anders³

et al. 2020

MTI

View full text Add to dashboard Cite

With the evaluation of a next-generation human–machine interface (HMI) concept for excavators, this study aims to discuss the HMI quality measurement based on usability and user experience (UUX) metrics. Regarding the digital transformation of construction sites, future work environments will have to be capable of presenting various complex visual data and enabling efficient and safe interactivity while working. The evaluated HMI focused on introducing a touch display-based interface, providing advanced operation functions and different interaction modalities. The assessment of UUX should show whether the novel HMI can be utilised to perform typical tasks (usability) and how it is accepted and assessed in terms of non-instrumental qualities (user experience, UX). Using the collected data, this article also aims to contribute to the general discussion about the role of UX beyond usability in industrial applications and deepen the understanding of non-instrumental qualities when it comes to user-oriented process and machine design. The exploratory study examines insights into the application of elaborated UUX measuring tools like the User Experience Questionnaire (UEQ) on the interaction with industrial goods accompanied by their rating with other tools, namely System Usability Scale (SUS), Intuitive Interaction Questionnaire (INTUI) and the National Aeronautics and Space Administration (NASA) Task Load Index (NASA-TLX). Four goals are pursued in this study. The first goal is to compare in-depth two different ways of interaction with the novel HMI—namely one by a control pad on the right joystick and one by touch. Therefore, a sample of 17 subjects in total was split into two groups and differences in UUX measures were tested. Secondly, the performances of both groups were tested over the course of trials to investigate possible differences in detail. The third goal is to interpret measures of usability and user experience against existing benchmark values. Fourth and finally, we use the data gathered to analyse correlations between measures of UUX. The results of our study show that the different ways of interaction did not impact any of the measures taken. In terms of detailed performance analysis, both groups yielded differences in terms of time per action, but not between the groups. The comparison of UUX measures with benchmark values yielded mixed results. The UUX measures show some relevant significant correlations. The participants mostly reported enjoying the use of the HMI concept, but several practical issues (e.g., efficiency) still need to be overcome. Once again, the study confirms the urge of user inclusion in product development. Especially in the course of digitalisation, as big scale advancements of systems and user interfaces bring uncertainty for many manufacturers regarding whether or how a feature should be integrated.

show abstract

“…Uma escavadeiraé comumente composta das seguintes partes: 1) base, 2) estrutura superior incluindo a cabine, e 3) manipulador fixado na região frontal. Considerase o manipulador da escavadeira uma entidadeà parte que possui a configuração com lança de profundidade (Boom), lança de levante (Stick ) e caçamba (Chacko et al, 2014 Tabela 1. Parâmetros DH -Schunk LWA4P.…”

Section: Modelagemunclassified